The marion project aims at automatizing the working processes in the intralogistics and agriculture through process and motion planning of mobile cooperative machines. This paper focuses on the agricultural scenario of wheat harvest. The harvesting process with cooperative machines is a challenging task because the machines’ actions influence and constrain each other spatio-temporally. In marion, algorithms from robotics are adapted to solve the planning problem under the basic conditions of high dynamics in process execution due to yield deviation and limited communication bandwidth of the radio communication. The developed planning system generates and optimizes the overall plan for all involved cooperative machines regarding multiple criteria.