Excavator 1 and Dump Truck 3 go to Soil Pile 1 for excavation and unloading. Meanwhile, Excavator 2 goes to Obstacle 2 for excavation to clear the obstacle. After Excavator 1 completes unloading, Dump Truck 1 goes to Puddle 1 for unloading. After completing all tasks, all robots return to the initial position.