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Task allocation is a key problem, which has a direct influence on the system performance in all kinds of distributed systems. This paper focuses on a specific kind of task allocation in swarm robotic systems, where the tasks are associated with specific time constraints. The paper presents a self-organized task allocation strategy, which aims to assign robot swarms to time-constrained tasks in a distributed manner. The robots assignment is performed based on particular specifications including task sizes and deadlines in addition to the specification of the single robot performance on the considered tasks. No central control is required to govern the swarm behaviour and no communication is exploited among robots.

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