03 · Resolve the conflict
04 · Output the schedule
A₀
p
x
q
Aɢ
B₀
r
s
Bɢ
A
B
A₀
p
x
q
Aɢ
B₀
r
s
Bɢ
A
B
B cannot occupy x at t=2
One feasible repair: wait at r
Before · t=2
After · t=2
t=0
t=1
t=2
t=3
t=4
t=5
A
A₀
p
x
q
Aɢ
Aɢ
B
B₀
r
r
x
s
Bɢ
A reaches x at t=2; B at t=3
Illustrative example · the same four targets are visited; both robots remain at their destinations after arrival.