Model-based synthesis allows to generate controllers that achieve high-level tasks while satisfying certain properties of interest. However, when controllers are executed on concrete systems, several modeling assumptions may be challenged, jeopardizing their real applicability. This paper presents an integrated system for generating, executing and monitoring optimal-by-construction controllers for multi-robot systems. This system unites the power of Optimization Modulo Theories with the flexibility of an on-line executive, providing optimal controllers for high-level task planning, and runtime feedback on their feasibility. After presenting how our system orchestrates static and runtime components, we demonstrate its capabilities using the RoboCup Logistics League as testbed. We do not only present our final solution but also its chronological development, and draw some general observations for the development of OMT-based approaches.Abstract Model-based synthesis allows to generate controllers that achieve high-level tasks while satisfying certain properties of interest. However, when controllers are executed on concrete systems, several modeling assumptions may be challenged, jeopardizing their real applicability. This paper presents an integrated system for generating, executing and monitoring optimal-byconstruction controllers for multi-robot systems. This system unites the power of Optimization Modulo Theories with the flexibility of an on-line executive, providing optimal controllers for high-level task planning, and runtime feedback on their feasibility. After presenting how our system orchestrates static and runtime components, we demonstrate its capabilities using the RoboCup Logistics League as testbed. We do not only present our final solution but also its chronological development, and draw some general observations for the development of OMT-based approaches.