  This work introduces a Strategic Pseudo-Goal Perturbation (SPGP) technique, a
novel approach to resolve deadlock situations in multi-agent navigation
scenarios. Leveraging the robust framework of Safety Barrier Certificates, our
method integrates a strategic perturbation mechanism that guides agents through
social mini-games where deadlock and collision occur frequently. The method
adopts a strategic calculation process where agents, upon encountering a
deadlock select a pseudo goal within a predefined radius around the current
position to resolve the deadlock among agents. The calculation is based on
controlled strategic algorithm, ensuring that deviation towards pseudo-goal is
both purposeful and effective in resolution of deadlock. Once the agent reaches
the pseudo goal, it resumes the path towards the original goal, thereby
enhancing navigational efficiency and safety. Experimental results demonstrates
SPGP's efficacy in reducing deadlock instances and improving overall system
throughput in variety of multi-agent navigation scenarios.
