Dynamically maintaining a map of a fleet of robotic devices in an environment to facilitate robotic action

A system comprising:

• a first robotic device within a physical environment;
• a second robotic device within the physical environment;
• at least one processor;
• and
• data storage comprising instructions executable by the at least one processor to cause the system to perform operations comprising:
• determining a digital map representative of the physical environment and of the first and second robotic devices within the physical environment, wherein the digital map includes an indication of a predicted future location of the first robotic device and a predicted time at which the first robotic device will arrive at the predicted future location;
• causing the first robotic device to perform a task comprising a plurality of task phases, the plurality including a coordinated task phase to be performed with the second robotic device, the coordinated task phase comprising a transfer of an object between the first and second robotic devices;
• during a performance of at least one of the plurality of task phases by the first robotic device, receiving, from the first robotic device, task progress data indicative of which of the plurality of task phases, other than the coordinated task phase, have been performed by the first robotic device;
• based on the received task progress data, updating the digital map to include an indication of a change in one or more of the predicted future location and the predicted time;
• and
• based on the updated digital map indicating the change, causing the second robotic device to perform the coordinated task phase with the first robotic device at one or more of the changed predicted future location and the changed predicted time.