Synthesis and tasks execution is a well known problem per- taining to different fields. With the advent of Industry 4.0, the need to schedule and execute very complex tasks that involve different ma- chinery or robots has become a key topic. In this article we propose a methodology that allows to define and monitor the execution of high-level tasks for a heterogeneous multi-robot system involved in assembly tasks. With the proposed approach, a state-chart is automatically synthesized starting from the definition of high-level tasks. The state-chart is then used to monitor online the operations that the robots must execute. The proposed methodology has been validated and tested in a research fa- cility that reproduces a complete production line involving collaborative robotic arms, mobile robots and manufacturing machines.
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