  A scheduling method in a robotic network cloud system with minimal makespan
is beneficial as the system can complete all the 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 the first node to receive a task starts executing its first scheduled task
and when all nodes have completed their last scheduled task. Load balancing
allocation and 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 grid of all tasks to ensure that
the time window constraints for tasks are met. We propose grid of all tasks
balancing algorithm for distributing and scheduling tasks with minimum
makespan. We theoretically prove the correctness of the proposed algorithm and
present simulations illustrating the obtained results.
