A scheduling method in a robotic network cloud system with minimal makespan is beneficial because the system can complete all tasks assigned to it in the fastest way. Robotic network cloud systems can be translated into graphs, where nodes represent hardware with independent computing power and edges represent data transmissions between nodes. Time-window constraints on tasks are a natural way to order tasks. The makespan is the maximum amount of time between when a node starts executing its first scheduled task and when all nodes have completed their last scheduled task. The load balancing scheduling ensures that the time between when the first node completes its scheduled tasks and when all other nodes complete their scheduled tasks is as short as possible. We propose a new load balancing algorithm for task scheduling with minimal makespan. We prove the correctness of the proposed algorithm and present simulations illustrating the obtained results.

翻译：机器人网络云层系统中的排期方法是有用的,因为系统可以以最快的方式完成分配给它的所有任务。机器人网络云层系统可以转换成图表,其中节点代表独立计算功率的硬件,边缘代表节点之间的数据传输。对任务的时窗口限制是命令任务的自然方式。时间窗口是节点开始执行其第一个预定任务和所有节点完成其最后一个预定任务之间的最大时间间隔。负载平衡时间表确保第一个节点完成其预定任务和所有其他节点完成其预定任务之间的时间尽可能短。我们提出一个新的负载平衡算法,以最小的间距来安排任务。我们证明拟议的算法的正确性,并提出模拟来说明所获得的结果。