The bus carrying pilgrims from different villages of Udaipur was returning from the shrine of Baba Ramdeo near Pokhran when the mishap took place, District Magistrate (Pali) Rohit Gupta said.
"When the bus was passing through Manida village on the Pali-Udaipur bypass at about 6 AM, it collided with a truck coming from the opposite direction", said Gupta.
The accident took place apparently as the driver of one of the vehiles dozed off at the wheel, an official said,
"We have rushed 16 passengers, who were seriously injured, to Jodhpur and others have been admitted to the Bangar Hospital in Pali itself," Gupta said.
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The Pali administration has announced an ex-gratia relief of Rs. 50000 each for the next of the kin of the deceased from the Chief Minister's Relief Fund.
The bus was carrying about 45 passengers.
While the driver of the truck was missing after the accident, the bus driver was killed in the accident.