Abstract: A method for responding to managing one or more warehouses, the method including obtaining information about multiple tasks completion agents (TCAs) of the one or more warehouses, wherein a TCA is configured to execute a task related to fulfillments of an order to obtain an item stored in the one or more warehouses, wherein the TCAs may include robots of different types that differ from each other by one or more task related properties; receiving multiple orders to obtain multiple items stored in the one or more warehouses; and scheduling an execution of tasks related to the provision of the multiple items. Scheduling includes allocating at least some of the multiple TCAs to execute tasks related to the provision of the multiple items.