Market based approach (MBA) provides communication and coordination for robots in a virtual economy in which they can exchange tasks and resources for payment. Furthermore, trades are enabled via market mechanisms such as auction protocols in which an auctioneer is able to determine the robots best capable of achieving the tasks being offered. In this paper we purpose a modification of MBA for task allocation. This approach consists of auction announcement, bid valuation and submission and winner determination. Several scenarios where robots need to visit particular locations with time and range of wireless network constraints are used for approach verification. Additionally, the results obtained by this approach are compared with results from approach in control and coordination of mobile motes (CCMM).