This is a ROS package implements a Murdoch[1][gerkey1998murdoch] approach for Multirobot Task Allocation (MRTA) using the Task Allocation Mechanisms (TAlMech) framework.
[gerkey1998murdoch]: Gerkey, Brian P., and Maja J. Mataric. "Sold!: Auction methods for multirobot coordination." IEEE transactions on robotics and automation 18.5 (2002): 758-768.