Abstract: The present invention relates to a highly-available and fault-tolerant solar tracking system and the process required to manage such a system. A fleet of multiple, redundant mobile robots managed by a task coordinator is deployed to track solar panels in a solar farm in alignment with the sun. Each robot has a control unit for engaging with a coupler connected to one or multiple solar panels and adjusting their orientation, as well as communicating with the task coordinator to receive tasks. The task coordinator senses various events such as robot failure/deterioration, as well as various environmental conditions, and sends tasks reconciled with event types. The system is highly-available and fault-tolerant as it remains operational as long as there is one operational robot. The task coordinator assigns tasks to the mobile robots so as to optimize battery life or other factors, such as, e.g., overall maintenance costs across the fleet.