  One of the standing challenges in multi-robot systems is the ability to
reliably coordinate motions of multiple robots in environments where the robots
are subject to disturbances. We consider disturbances that force the robot to
temporarily stop and delay its advancement along its planned trajectory which
can be used to model, e.g., passing-by humans for whom the robots have to
yield. Although reactive collision-avoidance methods are often used in this
context, they may lead to deadlocks between robots. We design a multi-robot
control strategy for executing coordinated trajectories computed by a
multi-robot trajectory planner and give a proof that the strategy is safe and
deadlock-free even when robots are subject to delaying disturbances. Our
simulations show that the proposed strategy scales significantly better with
the intensity of disturbances than the naive liveness-preserving approach. The
empirical results further confirm that the proposed approach is more reliable
and also more efficient than state-of-the-art reactive techniques.
