Scheduling multiple robots in a no-wait re-entrant robotic flowshop

► We address scheduling a no-wait re-entrant robotic flowshop with multiple robots. ► The problem is formulated as a set of prohibited intervals for the cycle time. ► We propose a polynomial algorithm to find the optimal cyclic multi-robot schedule. ► Our algorithm runs in O(N5) time, where N is the number of machines in the flowshop.