1. A method comprising: determining, by a computing device, time-based sequences of operations for each of a plurality of robotic devices, wherein each of the time-based sequences of operations indicates planned positions of a corresponding robotic device at corresponding timesteps of a global timeline; providing, by the computing device, instructions to cause parallel execution of the time-based sequences of operations by the plurality of robotic devices; determining, by the computing device, a deviation of a first robotic device of the plurality of robotic devices from the time-based sequence of operations corresponding to the first robotic device based on sensor data indicative of actual positions of the first robotic device at one or more corresponding timesteps of the global timeline during parallel execution of the time-based sequences of operations; in response to determining the deviation of the first robotic device, updating, by the computing device, the time-based sequence of operations for the first robotic device; determining, by the computing device, based on the updated time-based sequence of operations for the first robotic device, a potential collision involving the first robotic device that would result from continued parallel execution of the time-based sequences of operations; and modifying, by the computing device, one or more of the time-based sequences of operations to prevent the potential collision.