This project develops an intelligent scheduling system for a next-generation pharmaceutical preparation system that creates fully individualized medicine for each patient order. The production process uses XPlanar levitating robots that transport ingredients between specialized drug dispensers containing micropellets - tiny, precisely dosed particles representing different active substances. The system focuses on generating optimal task sequences: deciding which mover should visit which dispenser, in what order, and how to coordinate multiple patient orders efficiently. Using advanced optimization solvers such as CPLEX and Gurobi, the project computes efficient schedules that minimize production time while ensuring accurate medication assembly.