All robots avoid Obstacle 1. Excavator 1 and Dump Truck 1 go to Obstacle 1 to clear it by excavation and unloading with the excavator. After clearing is completed, all robots are allowed to pass through Obstacle 1. Dump Truck 1 unloads at the initial location. Dump Truck 2 goes to Puddle 1, and Dump Truck 3 goes to Puddle 2.