1. A method for preventing deadlock of a pair of robots which have a common workspace, each of the robots being controlled by an associated program wherein when the programs are executed concurrently each of the robots occupies at least a portion of the common workspace during a portion of execution of the associated program, said method comprising the steps of: during concurrent execution of the programs identifying portions of the common workspace occupied by the robots; identifying at least one interference region wherein the portions of the common workspace overlap; analyzing the at least one interference region and identifying where at least one deadlock condition of the two robots can occur; and avoiding the at least one deadlock condition during execution of the programs by automatically determining and executing at least one deadlock-free motion statement prior to execution of any motion of the robots that results in the at least one deadlock condition.