Market-based task allocation mechanisms where individual robots bid on missions according to distance, payload capability, and battery state-of-charge.
When new tasks arise, agents construct sequential bundles of tasks, submitting local bids to neighbors over ad-hoc wireless links. The distributed consensus phase resolves conflicting bids in polynomial time, guaranteeing 100% collision-free task assignments.
If an agent suffers mechanical degradation or battery depletion, it automatically releases its allocated task bundle back into the decentralized auction pool, where neighboring robots pick up the slack seamlessly.