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Collision avoidance is a critical problem in motion 1 planning and control of multirobot systems. Moreover, it may 2 induce deadlocks during the procedure to avoid collisions. In 3 this paper, we study the motion control of multirobot systems 4 where each robot has its own predetermined and closed path 5 to execute persistent motion. We propose a real-time and dis-6 tributed algorithm for both collision and deadlock avoidance by 7 repeatedly stopping and resuming robots. The motion of each 8 robot is first modeled as a labeled transition system, and then 9 controlled by a distributed algorithm to avoid collisions and dead-10 locks. Each robot can execute the algorithm autonomously and 11 real-timely by checking whether its succeeding state is occupied 12 and whether the one-step move can cause deadlocks. Performance 13 analysis of the proposed algorithm is also conducted. The con-14 clusion is that the algorithm is not only practically operative but 15 also maximally permissive. A set of simulations for a system with 16 four robots are carried out in MATLAB. The results also validate 17 the effectiveness of our algorithm. 18 Index Terms-Collision and deadlock avoidance, discrete event 19 systems, distributed algorithm, maximally permissive, motion 20 control, multirobot systems. 21 I. INTRODUCTION 22 C OMPARED with their single-robot counterparts, 23 multirobot systems become increasingly prevailing 24 thanks to their benefits like wide coverage, diverse func-25 tionality, and strong flexibility [18]. Besides, with the 26 collective behavior of multiple robots, a multirobot system 27 has the enthralling capability to accomplish sophisticated 28 tasks [20]. Multirobot systems have been applied in many 29