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In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot's ability to perform a task. 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 taskdoi:10.5772/7257 fatcat:4zi7pxzvkfauhdlztyq5zwwa7y