Well, the answer would be yes and no. A robots.txt file would stop the bots from indexing the page, but links from other pages in site to that non indexed page could therefor make it crawlable and then indexed. AS posted in google webmaster tools here:
"You need a robots.txt file only if your site includes content that you don't want search engines to index. If you want search engines to index everything in your site, you don't need a robots.txt file (not even an empty one).
While Google won't crawl or index the content of pages blocked by robots.txt, we may still index the URLs if we find them on other pages on the web. As a result, the URL of the page and, potentially, other publicly available information such as anchor text in links to the site, or the title from the Open Directory Project (www.dmoz.org), can appear in Google search results."
I think the best way to avoid any conflict is applying the rel="canonical" tag to each duplicate page that you don't want indexed.
You can find more info on rel canonical here
Hope this helps out some.