  A reciprocal dance occurs when two mobile agents attempt to pass each other
but incompatible interaction models result in repeated attempts to take
mutually blocking actions. Often, such a situation simply results in deadlock.
But in systems with significant inertial constraints, it can result in
collision. This abstract presents this colliding variant of the reciprocal
dance, how it arises, and a mitigation strategy that can improve safety without
sacrificing flexibility. A demonstration of the concept is provided in the
context of automotive active safety.

Robotics