THIS PAPER PRESENTS A TASK ASSIGNER FOR A MULTI-ROBOT FLEXIBLE ASSEMBLY CELL (FAC). BOTH PART PALLETS AND FIXTURES CAN ROUTE THROUGH THE CELL. THE TASK ASSIGNER DETERMINES A SCHEDULE FOR EACH BATCH OF PRODUCTS TO BE ASSEMBLED, WITH MINIMUM ASSEMBLY TIME AS ITS OBJECTIVE. THE BATCH IS DIVIDED INTO SIMILAR SO-CALLED REPEATING SETS TO COMPLY WITH THE LIMITED BUFFER CAPACITY FOR PALLETS AND FIXTURES IN THE FAC. A SCHEDULE IS DETERMINED PER REPEATING SET USING A GOAL-DIRECTED SEARCH. BESIDES THE ADVANTAGE OF THE LIMITED TIME HORIZON, IT IS POSSIBLE TO IMPROVE THE SCHEDULE FOR A REPEATING SET DURING EXECUTION.