The problem of assigning tasks to a group of robots acting in a dynamic environment is a fundamental issue for a multirobot system (MRS) and several techniques have been studied to address this problem. Such techniques usually rely on the assumption that tasks to be assigned are inserted into the system in a coherent fashion. in this work we consider a scenario where tasks to be accomplished are perceived by the robots during mission execution. This issue has a significative impact on the task allocation process and, at the same time, makes it strictly dependent on perception capabilities of robots. more specifically, we present an asynchronous distributed mechanism based on Token Passing for allocating tasks in a team of robots. we tested and evaluated our approach by means of experiments both in a simulated environment and with real robots; our scenario comprises a set of robots that must cooperatively collect a set of objects scattered in the working environment. Each object collection task requires the cooperation of two robots. The experiments in the simulation environment allowed us to extract quantitative data from several missions and in different operative conditions and to characterize in a statistical way the results of our approach, especially when the team size increases.
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