In dynamic and complex multi-robot scenarios, the task assignment is a challenging and crucial topic, because it has to be very exible and robust or in some sense fault-tolerant to achieve a certain degree of redundancy which is often required in these scenarios. To cope with these requirements, a dynamic task assignment approach based on selforganization principles adopted from nature is presented. In this work, a team of soccer playing robots is used to validate the suggested selforganized dynamic task assignment in dynamic domains with real-time constraints.