Numbers 35:27
and the blood avenger finds him outside the territory of the city of his refuge, and the blood avenger kills the killer, {he will not be guilty of blood}
Exodus 22:2
" 'If a thief is found in the act of breaking in and he is struck and he dies, there is not bloodguilt for him.
Deuteronomy 19:6
[He does this] lest the avenger of blood might pursue after the killer, because {he is hot with anger} and he overtakes him, because it is a long distance [to the city of refuge], and [so] {he kills him}, but {he did not deserve a death sentence}, because he [was] not hating him {before}.
Deuteronomy 19:10
[Do this] so that innocent blood will not be shed in the midst of your land that Yahweh your God [is] giving to you [as an] inheritance and [thereby] bloodguilt would be on you.