Method for distributing work points to a plurality of task-performing robots

A computer program stored in a non-transitory computer-readable storage medium, wherein when the computer program is executed by one or more processors, the computer program allows the one or more processors to perform operations for distributing work points to a plurality of task-performing robots, the operations comprising:

• an operation of determining available work points for each of the plurality of task-performing robots;
• an operation of distributing target work points for each of the plurality of task-performing robots based on the determined available work points, and predicting a plurality of target work trajectories for each of the plurality of task-performing robots based on the distributed target work points;
• an operation of calculating a first loss or a second loss based on the predicted plurality of target work trajectories;
• and
• an operation of re-distributing target work points to each of the plurality of task-performing robots based on at least one of the calculated first loss or the calculated second loss,
• wherein the operation of calculating of the first loss or the second loss based on the predicted plurality of target work trajectories includes:
• an operation of predicting work areas for each of the plurality of task-performing robots based on the predicted plurality of target work trajectories, and
• an operation of calculating the second loss based on the predicted work areas.

A computing device comprising:

• at least one processor;
• and
• a memory,
• wherein the at least one processor is configured to
• determine available work points for each of a plurality of task-performing robots,
• distribute target work points for each of the plurality of task-performing robots based on the determined available work points, and predict a plurality of target work trajectories for each of the plurality of task-performing robots based on the distributed target work points,
• calculate a first loss or a second loss based on the predicted plurality of target work trajectories, and
• re-distribute target work points to each of the plurality of task-performing robots based on at least one of the calculated first loss or the calculated second loss, and
• the process of calculating of the first loss or the second loss based on the predicted plurality of target work trajectories includes:
• predicting work areas for each of the plurality of task-performing robots based on the predicted plurality of target work trajectories, and
• calculating the second loss based on the predicted work areas.