The paper discusses the functioning of a collaborative robotic system that includes both collaborative robots (cobots) and humans (operators). Group control (management) methods and algorithms to solve the problem of increasing the efficiency of human–robot interaction are proposed to be used. The article deals with the principles of the formation and functioning of heterogeneous teams within a collaborative robotic system (CRS), as well as the methods of collective tasks allocation among the participants of these teams. The members of the CRS heterogeneous team perform jointly their specific sub-tasks in order to achieve a single global goal of the system (or accomplish its single common mission). The methods and algorithms of task allocation for the CRS members are considered in the context of a hybrid management strategy. The authors also propose a structural scheme of the modular control system of the CRS (based on a distributed hierarchical principle) that takes into account the indeterminacy of the external environment and the lack of posterior information provided.