  In manufacturing, the increasing involvement of autonomous robots in
production processes poses new challenges on the production management. In this
paper we report on the usage of Optimization Modulo Theories (OMT) to solve
certain multi-robot scheduling problems in this area. Whereas currently
existing methods are heuristic, our approach guarantees optimality for the
computed solution. We do not only present our final method but also its
chronological development, and draw some general observations for the
development of OMT-based approaches.
