Let agents evade to the right-hand side. Use following evasion preference:

1. Evade tangentially (45°) with current speed).
2. Evade tangentially (45°) with speed/2) if not enough space in previous step.
3. Evade sideways (90°) with speed/2) if not enough space in previous step.
4. Evade sideways (90°) with speed/4) if not enough space in previous step.
5. Wait.