A computer-implemented method comprising: receiving ordered sequences of operations for a plurality of corresponding robotic devices, wherein an ordered sequence of operations comprises an ordered sequence of target positions within a workcell, and one or more sync points, wherein a sync point corresponds to an operation within each of the ordered sequences of operations and indicates to cause each of the robotic devices to hold position at an operation corresponding to the sync point until each of the robotic devices reaches an operation corresponding to the sync point; determining one or more anchor points, wherein the one or more anchor points comprise a subset of the one or more sync points; determining, by a computing device, time-based sequences of operations for each of the plurality of corresponding robotic devices, wherein each of the time-based sequences of operations indicates positions within the workcell at corresponding timesteps of a global timeline, and wherein the positions of the corresponding robotic device within each of the time-based sequence of operations comprise the target positions from the ordered sequence of operations for the corresponding robotic device and wherein the time-based sequences of operations cause one or more of the robotic devices to hold position at an operation corresponding to an anchor point until one or more other robotic devices reach an operation corresponding to the anchor point; determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell; modifying the time-based sequences of operations in order to prevent the one or more potential collisions, wherein the modification of the time based sequences comprises determining velocity curves for each of the robotic devices, wherein the velocity curves are determined to maximize the combined operating rate of all of the robotic devices when operating in parallel by first maximizing the velocity curve for a robotic device of the plurality of robotic devices whose operation time is longest and then determining velocity curves for one or more remaining robotic devices; and providing instructions to cause parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell. receiving ordered sequences of operations for a plurality of corresponding robotic devices, wherein an ordered sequence of operations comprises an ordered sequence of target positions within a workcell, and one or more sync points, wherein a sync point corresponds to an operation within each of the ordered sequences of operations and indicates to cause each of the robotic devices to hold position at an operation corresponding to the sync point until each of the robotic devices reaches an operation corresponding to the sync point; determining one or more anchor points, wherein the one or more anchor points comprise a subset of the one or more sync points; determining, by a computing device, time-based sequences of operations for each of the plurality of corresponding robotic devices, wherein each of the time-based sequences of operations indicates positions within the workcell at corresponding timesteps of a global timeline, and wherein the positions of the corresponding robotic device within each of the time-based sequence of operations comprise the target positions from the ordered sequence of operations for the corresponding robotic device and wherein the time-based sequences of operations cause one or more of the robotic devices to hold position at an operation corresponding to an anchor point until one or more other robotic devices reach an operation corresponding to the anchor point; determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell; modifying the time-based sequences of operations in order to prevent the one or more potential collisions, wherein the modification of the time based sequences comprises determining velocity curves for each of the robotic devices, wherein the velocity curves are determined to maximize the combined operating rate of all of the robotic devices when operating in parallel by first maximizing the velocity curve for a robotic device of the plurality of robotic devices whose operation time is longest and then determining velocity curves for one or more remaining robotic devices; and providing instructions to cause parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.