A method, comprising: - capturing in each case position information and/or orientation information of at least two cleaning appliances (4a-4c), the position information and/or orientation information being indicative of a position and/or orientation of a cleaning appliance (4a-4c) in a region to be cleaned and/or maintained; - capturing soiling information, the soiling information being indicative of a location or region to be cleaned and/or maintained within the region to be cleaned and/or maintained; - determining control information based at least in part on the captured position information and/or orientation information and on the captured soiling information; - outputting or triggering the output of the determined control information, the control information further being determined based on determined planning information, the planning information being indicative of predicted locations or regions to be cleaned or maintained, the method being characterized in that, the planning information is determined based on at least one of the following parameters: (i) cleaning performance of the relevant cleaning appliance (4a-4c); (ii) material consumption of the relevant cleaning appliance (4a-4c); (iii) required time of the relevant cleaning appliance (4a-4c) for the cleaning and/or maintenance of the location or region to be cleaned and/or maintained within the region to be cleaned and/or maintained; (iv) energy consumption of the relevant cleaning appliance (4a-4c); (v) wear of the relevant cleaning appliance (4a-4c); (vi) noise generation of the relevant cleaning appliance (4a-4c); (vii) or a combination thereof. - capturing in each case position information and/or orientation information of at least two cleaning appliances (4a-4c), the position information and/or orientation information being indicative of a position and/or orientation of a cleaning appliance (4a-4c) in a region to be cleaned and/or maintained; - capturing soiling information, the soiling information being indicative of a location or region to be cleaned and/or maintained within the region to be cleaned and/or maintained; - determining control information based at least in part on the captured position information and/or orientation information and on the captured soiling information; - outputting or triggering the output of the determined control information, the control information further being determined based on determined planning information, the planning information being indicative of predicted locations or regions to be cleaned or maintained, the method being characterized in that, the planning information is determined based on at least one of the following parameters: (i) cleaning performance of the relevant cleaning appliance (4a-4c); (ii) material consumption of the relevant cleaning appliance (4a-4c); (iii) required time of the relevant cleaning appliance (4a-4c) for the cleaning and/or maintenance of the location or region to be cleaned and/or maintained within the region to be cleaned and/or maintained; (iv) energy consumption of the relevant cleaning appliance (4a-4c); (v) wear of the relevant cleaning appliance (4a-4c); (vi) noise generation of the relevant cleaning appliance (4a-4c); (vii) or a combination thereof. the control information further being determined based on determined planning information, the planning information being indicative of predicted locations or regions to be cleaned or maintained, the method being characterized in that, the planning information is determined based on at least one of the following parameters: (i) cleaning performance of the relevant cleaning appliance (4a-4c); (ii) material consumption of the relevant cleaning appliance (4a-4c); (iii) required time of the relevant cleaning appliance (4a-4c) for the cleaning and/or maintenance of the location or region to be cleaned and/or maintained within the region to be cleaned and/or maintained; (iv) energy consumption of the relevant cleaning appliance (4a-4c); (v) wear of the relevant cleaning appliance (4a-4c); (vi) noise generation of the relevant cleaning appliance (4a-4c); (vii) or a combination thereof. (i) cleaning performance of the relevant cleaning appliance (4a-4c); (ii) material consumption of the relevant cleaning appliance (4a-4c); (iii) required time of the relevant cleaning appliance (4a-4c) for the cleaning and/or maintenance of the location or region to be cleaned and/or maintained within the region to be cleaned and/or maintained; (iv) energy consumption of the relevant cleaning appliance (4a-4c); (v) wear of the relevant cleaning appliance (4a-4c); (vi) noise generation of the relevant cleaning appliance (4a-4c); (vii) or a combination thereof.