In a mining environment, reducing as most as possible the human contribution for task execution is a key aspect, since most of the operations could be life threatening. The purpose of this thesis work was the development of an application devoted to the control of multi-fleet robotic systems operating in a block caving mine, accounting for the execution of tasks of different type and the traffic issue. Two applications were developed, respectively relying on the OpenRMF and OpenTCS frameworks, based on different scheduling algorithms, to determine which of the two helps achieving the best improvement in production, quantified in terms of total cycle time.