diff --git a/src/robot_interface/models/exceptions/robot_exceptions.py b/src/robot_interface/models/exceptions/robot_exceptions.py
index 167c5755..ab088a82 100644
--- a/src/robot_interface/models/exceptions/robot_exceptions.py
+++ b/src/robot_interface/models/exceptions/robot_exceptions.py
@@ -19,6 +19,7 @@ class ErrorReason(str, Enum):
     RobotTransformException: str = "robot_transform_exception"
     RobotUnknownErrorException: str = "robot_unknown_error_exception"
     RobotDisconnectedException: str = "robot_disconnected_exception"
+    RobotMissionNotSupportedException: str = "robot_mission_not_supported_exception"
 
 
 @dataclass
@@ -219,3 +220,14 @@ def __init__(self, error_description: str) -> None:
         )
 
     pass
+
+
+# An exception which should be thrown by the robot package if the robot is given a mission type it cannot run, such as a localisation mission
+class RobotMissionNotSupportedException(RobotException):
+    def __init__(self, error_description: str) -> None:
+        super().__init__(
+            error_reason=ErrorReason.RobotMissionNotSupportedException,
+            error_description=error_description,
+        )
+
+    pass