A Constraint Satisfaction Problem (CSP) is a mathematical formalism defined by a set of variables, each with a domain of possible values, and a set of constraints that specify allowable combinations of values for those variables. The goal is to find an assignment of values to all variables that satisfies every constraint. In multi-agent task allocation, variables represent task-agent pairings, domains represent possible assignments, and constraints encode hard rules (e.g., an agent can only do one task at a time) and soft preferences (e.g., cost or skill matching).
