**6. Conclusions**

It was confirmed that the multi-robot controller developed based on tasks programmed in the net form controls the equipment according to the programmed net model. The method provides concurrent movement of all robots and machines in the system, and it provides synchronization commands to allow coordination of their movements to accomplish user defined tasks. The commands used by this system are not based on any specific existing robot language. So, the method can be used in any real robot by translating it to the appropriate robot language, and it acts as a programming tool on the coordination level and on the organization level in multiple robot systems.
