A method for determining, by a data processing system, a sequence of kinematic chains of a multiple robot along a sequence of locations, whereby robotic tasks are to be sequentially performed by tools, wherein the term multiple robot denotes an industrial robot having two or more kinematic chains; comprising the following steps: a) receiving inputs on the sequence of locations to be reached by a tool mounted on one of the kinematic chains of the robot; b) considering each kinematic chain separately by setting one kinematic chain in use and determining, for each kinematic chain in use, a plurality of available configurations for each location of the sequence; c) representing the determined available configurations as nodes connectable by directional connectors of a graph representing a plurality of available robotic paths for reaching with one of the tools the locations of the location sequence, wherein the switching among different kinematic chains within the same robotic path is allowed; d) determining a plurality of valid directional connectors connecting subsequent available configurations by simulating collision free trajectories of the robot between consecutive configurations while taking into account a set of working modality constraints of the location sequence; e) assigning to each valid directional connector a weight factor representing the effort required by the robot in moving between the two subsequent configurations represented by the two consecutive nodes connected by the directional connector; f) determining, out of a plurality of valid robotic paths along valid directional connectors, the shortest robotic path by taking into account the weight factors of the directional connectors; and g) determining the sequence of kinematic chains of the determined shortest path. a) receiving inputs on the sequence of locations to be reached by a tool mounted on one of the kinematic chains of the robot; b) considering each kinematic chain separately by setting one kinematic chain in use and determining, for each kinematic chain in use, a plurality of available configurations for each location of the sequence; c) representing the determined available configurations as nodes connectable by directional connectors of a graph representing a plurality of available robotic paths for reaching with one of the tools the locations of the location sequence, wherein the switching among different kinematic chains within the same robotic path is allowed; d) determining a plurality of valid directional connectors connecting subsequent available configurations by simulating collision free trajectories of the robot between consecutive configurations while taking into account a set of working modality constraints of the location sequence; e) assigning to each valid directional connector a weight factor representing the effort required by the robot in moving between the two subsequent configurations represented by the two consecutive nodes connected by the directional connector; f) determining, out of a plurality of valid robotic paths along valid directional connectors, the shortest robotic path by taking into account the weight factors of the directional connectors; and g) determining the sequence of kinematic chains of the determined shortest path. <EOS>