The chapter proposes an approach to solving the problem of controlling robot teams in emergency situations, which involves the distribution of territorial areas between robots for the search of different objects. It takes into account the nature of the tasks performed by the robots, their software and hardware capabilities, and the specifics of the environment under study. It is shown that an increase in efficiency in solving real-world problems can be achieved by taking into account important logical conditions that are often encountered in practice. A method for describing possible logical relationships between robots and territorial areas is presented. A modified formulation of the classical allocation task and the methods for its execution are proposed, within the framework of which the analyst can choose in a dialogue any option for the distribution of robots by territorial areas, relying only on his own intuition, experience, etc. The examples of solving some problems are presented, taking into account the situations often encountered in practice.