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.bekindtopets.com/flash-grab-DuramaxTuner-DT8170010101080-Switch-on-the-Fly-Tune-incl-EFI-Live-Spade-cDuramax-LWN-flash-save/