Abstract: The finitude of resources and parallel execution of actions will result in resource conflicts in collaborative missions.The paper introduces a technique for solving this problem,which restricts the execution time of actions by adding temporal constraints on actions.Firstly,the mission plan is transformed into scheduling model with multi-capacitated resources,and the definition of resource conflicts and rules for conflict judgement are given based on the model’s temporal properties.Then a resource conflict detection algorithm is presented based on the minimal critical sets,which makes use of the properties of overlaps between temporal bounds,and the resource conflicts are detected and resolved as particular cliques in connected graph.From the perspective of constraint satisfaction,the least-commitment strategy based conflicts resolution algorithm is also developed.Experimental results indicate the effectiveness of the approach.