In accordance with Figure , the Robot Sub-Scheduler is classified as a level 2 entity. The primary functions of the Robot Sub-Scheduler are to oversee all laboratory robot operations, including the transfer of samples between stations and the performance of robotized operations on samples (manipulator 6 ). The transfer of samples is carried out by both mobile robots (presented in a separate publication) and a combination of fixed six-axis and SCARA robots. On their side, the majority of sample manipulations are carried out by 6-axis collaborative robots with dynamically adapted grippers connected to tool-changers. The Robot Sub-Scheduler receives task lists, with arguments defining the target positions/stations or the manipulation to be performed on a specific sample from the Coordinator level. As illustrated in Figure , the level 2 Robot Sub-Scheduler oversees a level 3 Sub-Scheduler named Fleet Manager. The latter is responsible for selecting the most appropriate mobile robot, among the available ones within the fleet, for a specific action. It then transfers the final location in the laboratory that the mobile robot (EMs) has to reach to its dedicated Trajectory Controller coded into the ROS environment. The level 2 Robot Sub-Scheduler also interacts directly with node's APIs for 6-axis and SCARA arms in charge of sample transfers from the mobile robots to the scientific equipment, intra-scientific equipment transfers and sample manipulations. For these operations, the 6-axis (UR#) and SCARA arms (KX2) operations are entirely defined within the respective controller as an internal program, run by the Robot Sub-Scheduler through dedicated inhouse APIs. Multiple sub-Schedulers can cohabit at the same level and interact with each other. In Figure , this is symbolized at level 2 by the dashed line between the Robot Sub-Scheduler and the OmniFire.