Deadlock Prediction and Recovery for Distributed Collision Avoidance with Buffered Voronoi Cells

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Robot-Goal Distances:

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Total Robot-Goal Distance (Right-Hand Heuristic)

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Total Robot-Goal Distance (Proposed Deadlock Prediction and Recovery Algorithm)

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Minimum Robot-Robot Distance (Right-Hand Heuristic)

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Minimum Robot-Robot Distance (Proposed Deadlock Prediction and Recovery Algorithm)

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Safety Distance