Numbers 35:27
If the relative who can avenge the death finds you outside the city of refuge and kills you, the relative is not guilty of murder.
Exodus 22:2
If the thief is caught while breaking in and is struck so that he dies, there will be no blood guiltiness on his account.
Deuteronomy 19:6
Otherwise the avenger of blood might pursue the manslayer in the heat of his anger. He may overtake him and because the way is long he may take his life. Even though he was not deserving of death, since he had not hated him previously.
Deuteronomy 19:10
Innocent blood will not be shed in your land that Jehovah your God gives you as an inheritance. Blood guiltiness will not be on you.