  Distributed task assignment for multiple agents raises fundamental and novel
control theory and robotics problems. A new challenge is the development of
distributed algorithms that dynamically assign tasks to multiple agents, not
relying on prior assignment information. This work presents a distributed
method for multi-robot task management based on a message expiration-based
validation approach. Our approach handles the conflicts caused by a
disconnection in the distributed multi-robot system by using distance-based and
timestamp-based measurements to validate the task allocation for each robot.
Simulation experiments in the Robotarium simulator platform have verified the
validity of the proposed approach.
