US Patent 11092973 Coordinated operation of autonomous robots

Coordinated operation of two or more autonomous robots is based on a clustered partitioning of a collective set of operations and/or tasks that the robots perform simultaneously. The clustered partitioning may include generating a set of clusters with each cluster of the set of clusters allocating a different subset of the collective set of operations and/or tasks to a different robot such that the set of clusters results in a least amount of cumulative distance that the robots traverse in performing each operation and/or task of the collective set, and a maximum amount of distance separating the robots when performing each operation and/or task. Each cluster may be assigned to a different robot with the collective set of assigned clusters causing the robots to operate and move in a coordinated efficient and nonconflicting manner.