In the new collaborative robotic applications, hu- mans and robots cooperate to accomplish a common job, com- posed by a set of tasks. In this context, both a proper task scheduling strategy and task execution strategy are important to allow the collaboration. The first addresses the uncertainties of the two agents, while the second ensure safety. However, to make the most of the collaboration, it is also crucial to integrates these strategies. In this paper, we propose an integrated architecture that exploits the task execution information to enrich the task scheduling, improving the overall collaboration.