The proposed project will develop resource models for use when building robot plans that enable variable levels of robot autonomy (NASA Roadmap TA4). The technology for resource modeling has direct application in NASA missions such as the Resource Prospector Mission (RPM). An ongoing operational trade during plan execution for the RPM is whether to take a closer look for water in an area or to move on to prospect another area. The proposed resource models have potential to help the science team make better decisions about prospecting by providing more accurate estimates of how long it will take to perform the tasks within a robot plan. Other tests where resource modeling might improve robot and science mission planning include BASALT, AstroBee, and the Pavilion Lake Research Project (PLRP). Unmanned Vehicles, including UAVs, UGVs, and USVs are growing in their importance to DOD. Correspondingly, the need to ensure that soldiers can work effectively with these vehicles is also growing. As the number of vehicles grows the need to plan for the coordination of multiple robots will also grow. The proposed resource modeling software can be integrated with existing planning and procedure technology to deliver flexible multi-robot plans. There is renewed interest in remote operations and robot inspection and maintenance for the oil and natural gas drilling, extraction, and processing. Whether controlling robots that monitor and maintain off-shore rigs during an evacuation, or controlling Remotely Operated Vehicles underwater, or controlling robots that perform disaster response tasks in large refinery, the need for robotics in the oil and gas industry is growing. The proposed software for resource modeling is enabling to build plans for such robot operations.