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Techobo: Yes, much. Only thing that "could" be changed is have Red watch rear till blue gets the corner, then execute the same maneuver; but its really going to be assumed that the rear unit is making constant check of rear and periphals (windows, railings, etc.).
Should blue pie the entire corner so that he can see even what is on the right side of the hallway? I think that's what you mean.
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