Systems and methods related to scheduling of tasks for execution in parallel based on geometric reach are described. An example method includes using a processor, processing information pertaining to a type of task to generate a plurality of areas of reach, where each of the plurality of areas of reach corresponds to a portion of a shared space. The method further includes using the processor, generating a plurality of inflated areas of reach by inflating each of the plurality of areas of reach based on a task-specific factor pertinent to the type of task. The method further includes automatically scheduling parallel execution of tasks associated with any of the plurality of inflated areas of reach satisfying a spatial constraint.