This is an example of when the robot coordinator will fail to find a solution. By looking at the xfig file, it is easy to see how the two paths ovelap. It is also interesting to note that with the two robots' initial and goal configurations, there does exist a solution to this problem. This example illustrates the fact that this algorithm will not always find solutions, even if solutions do exist. The reason behind this is the fact that the algorithm takes a decoupled approach to the problem, which might not always be optimal.