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.spidertattooz.com/AleSmith-Beachwood-Tower-of-Flower-IPA-Collaboration-4pk-16oz/