Task allocation in multi-robot environment is capable of allocating the tasks to working robots in the multi-robot environment. Selection of a suitable robot is a crucial task for allocation of the task. The problem addressed in this paper focuses on selecting a suitable robot and execution of the task. The proposed research work considers the multi-task multi-robot environment. A working robot is selected for a task to be executed. Multiple tasks are there to be allocated among multiple mobile robots that exist in the environment. Sine cosine algorithm is implemented here to plan a path for task execution and nearest neighbor selection for identifying a robot to be assigned with the task. The proposed research work has been simulated through computer programming language. It has been observed in the simulation that the proposed approach outperforms over existing approaches in terms of waiting time, turn-around time, shortest path, and overall performance.