The Goal-Oriented Long-Lived Systems (GOALS) Lab performs research around the problems of behaviour generation for autonomous systems. In particular we focus on long-term autonomy and task and mission planning for mobile robots which must operate for extended periods (days, weeks or months) in dynamic, uncertain environments. To create long-term autonomous behaviour we explore the application of artificial intelligence techniques to robots, particularly planning under uncertainty and machine learning, such that the longer robots act in an environment, the better they perform.