Abstract: Methods are provided to obtain task allocation, planning, and scheduling necessary to ensure service agents can accomplish their tasks efficiently, while transport agents perform the necessary transport and refueling operations. The methods take a scheduling-centric approach, formally incorporate fuel constraints, and are generalized for an arbitrary number of service agents and transport agents. The methods provide for the formal definition of the novel simple agent transport problem, the unique modeling and constraint-based logic required for the docking, transport, and deployment of service agents and the resulting analysis. Tasks to be completed consist of a set of locations, and the agents must service each location set. The methods and systems incorporate Bayes risk to schedule slips and to the application of service agent-transport agent scheduling.