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These utility functions are used to allocate tasks in real time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory control theory. The proposed controller design methodology accommodates flexibility in task assignments, robot coordination, and tolerance to robot failures and repairs. Implementation details of the proposed methodology are demonstrated through a warehouse patrolling case study.<\/jats:p>","DOI":"10.1017\/s0263574711000920","type":"journal-article","created":{"date-parts":[[2011,8,17]],"date-time":"2011-08-17T05:41:12Z","timestamp":1313559672000},"page":"721-730","source":"Crossref","is-referenced-by-count":26,"title":["Dynamic task allocation in cooperative robot teams"],"prefix":"10.1017","volume":"30","author":[{"given":"Athanasios","family":"Tsalatsanis","sequence":"first","affiliation":[]},{"given":"Ali","family":"Yalcin","sequence":"additional","affiliation":[]},{"given":"Kimon. 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