The majority of robotic systems in industrial use are dedicated to carrying out a specific operation and are centric to a single robot arm. In contrast to such systems, multi-purpose robotic systems are reconfigurable with different tools to carry out a range of operations, and multi-robot systems enable increased flexibility based on overlapping workspaces. In combination, multi-purpose/ multi-robot systems allow for larger workspaces, agile load-balancing, and robot-robot interactions. In our research, we work on methods and tools regarding the planning, programming, safe operation, and optimization of such robotic systems.