We consider the problem of multi-robot task allocation (MRTA) by a set of robots that are deployed in an initially unknown environment to perform foraging tasks. The location of each task has to be discovered by each robot through searching in the environment. Each task also requires multiple robots to share the task's execution to complete the task. We discuss an emergent, distributed MRTA algorithm and describe a set of heuristics that can be used by the MRTA algorithm to select the order of the tasks so that the tasks are performed in an efficient manner. The heuristics are evaluated using simulated robots on the Webots simulator to analyze their relative performance.