This work deals with the development of a dynamic task assignment strategy for heterogeneous multi-robot teams in typical real world scenarios. The strategy must be efficiently scalable to support problems of increasing complexity with minimum designer intervention. To this end. we have selected a very simple auction-based strategy. https://www.roneverhart.com/Traditional-Karate-Do-Okinawa-Goju-Ryu-Book-1-The-Fundamental-Techniques-by-Morio-Higaonna-Preowned/