All robots avoid the puddles. Then coordinate Excavator 1 and Dump Truck 2 to go to Soil Area 2, and Excavator 2 and Dump Truck 3 to go to Soil Area 3. After arrival, the excavators perform excavation and unloading respectively. Then the dump trucks unload the soil into the puddles. After both dump trucks have completed unloading, allow all robots to pass through the puddles.