  Multiple robotic systems, working together, can provide important solutions
to different real-world applications (e.g., disaster response), among which
task allocation problems feature prominently. Very few existing decentralized
multi-robotic task allocation (MRTA) methods simultaneously offer the following
capabilities: consideration of task deadlines, consideration of robot range and
task completion capacity limitations, and allowing asynchronous decision-making
under dynamic task spaces. To provision these capabilities, this paper presents
a computationally efficient algorithm that involves novel construction and
matching of bipartite graphs. Its performance is tested on a multi-UAV flood
response application.
