Assistive robots are robots that are designed to help people with disabilities in their daily lives. These robots often are either too simple and thus cannot meet the needs of the user or are too complex and thus become overly expensive or unreliable. To mitigate this problem, we propose a system of multirobot coordination that allows several heterogeneous robots to work cooperatively to assist an individual. We design care task workflows that cater to the needs of a specific patient, outlining the tasks needed for the user as well as the robots that can complete each task. We then build a robot operating system simulation to test our coordination methods on two example workflows for post-traumatic stress disorder care routines. Our experiments show that our coordination successfully navigates each robot to its task location at the proper time, thus showing the feasibility of these methods for multi-assistive-robot coordination.