Robot associated with the NMR spectrometer. A workflow is a higher-level Method defined at level 2 and above Schedulers (see Figure ). Code snippet 2 is a workflow defined in the level 2 Sub-Scheduler named Robot Sub-Scheduler defining the transfer of samples from a group of equipment named OmniFire (omni) to the NMR spectrometer (nmr). The local sample transfer is conducted using two six-axis Universal Robots UR5e, situated at the OmniFire level (ur5-omni) and NMR (ur5-nmr), respectively. The long-range sample transfer is accomplished via the Swiss Cat+ 2D drone swarm system, a locally developed swarm of mini-mobile robots operated through its fleet manager developed in ROS2 (fleetmanager).