diff --git a/main.py b/main.py
index 5cafa1d..5beb1a6 100644
--- a/main.py
+++ b/main.py
@@ -122,9 +122,6 @@ def run_experiment(experiment_title, n_agents, capacity, show_plots, debug, resu
                 new_route.append((coordinate[0] + min_x, coordinate[1] + min_y))
             temp.append(new_route)
         open("allocations.json", "w").write(geojson.dumps({"routes": temp}))
-    # TODO find a way of adding an agent based on id instead of index in a list
-    # This has some more work to it as this requires the index querying in cbba to be done based on hash indexing
-    # exp.add_agent(Agent.agent(id=))
 
     # Save the results in a csv file
     (
@@ -176,13 +173,13 @@ def run_experiment(experiment_title, n_agents, capacity, show_plots, debug, resu
         )
     else:
         ds = "AC300"
-        n_agents = 3
-        capacity = 15000
+        n_agents = 5
+        capacity = 1500
         main(
             dataset_name=ds,
             experiment_title=ds + "_" + str(n_agents) + "agents_" + str(capacity) + "capacity",
             n_agents=n_agents,
             capacity=capacity,
-            show_plots=True,
-            debug=True,
+            show_plots=False,
+            debug=False,
         )
diff --git a/pyproject.toml b/pyproject.toml
index 5d79a61..c971f74 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,11 +1,11 @@
 
 [build-system]
-requires = ["setuptools", "wheel"]
+requires = ["setuptools", "wheel", "pep517"]
 build-backend = "setuptools.build_meta"
 
 [project]
 name = "trajallocpy"
-version = "0.0.1"
+version = "0.0.2"
 description = "TrajAllocPy is a Python library that provides functionality for trajectory task Allocaition using Consensus based bundle algorithm"
 readme = "README.md"
 authors = [
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..6d13535
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,22 @@
+from setuptools import setup
+
+setup(
+    name="trajallocpy",
+    version="0.0.2",
+    description="TrajAllocPy is a Python library that provides functionality for trajectory task Allocation using Consensus based bundle algorithm",
+    long_description="",
+    long_description_content_type="text/markdown",
+    author="Kasper Rømer Grøntved",
+    author_email="kaspergrontved@gmail.com",
+    url="",
+    classifiers=[
+        "Development Status :: 4 - Beta",
+        "License :: OSI Approved :: MIT License",
+        "Programming Language :: Python :: 3.10",
+        "Programming Language :: Python :: 3.11",
+    ],
+    packages=[],
+    python_requires=">=3.10",
+    install_requires=[],
+    extras_require={"test": ["pytest"]},
+)
diff --git a/trajallocpy/ACBBA.py b/trajallocpy/ACBBA.py
index 23eed19..bd1c440 100644
--- a/trajallocpy/ACBBA.py
+++ b/trajallocpy/ACBBA.py
@@ -77,6 +77,14 @@ def __init__(
         self.removal_threshold = 5  # TODO find a good value for this when ros is implemented
         self.message_history = []
 
+    def __repr__(self) -> str:
+        return f"Agent {self.id} \n path {self.path} \n  bundle {self.bundle} \n y(winning bids) {self.y} \n z(winning agents) {self.z} \n t(timestamps) {self.t} \n"
+
+    def add_tasks(self, tasks):
+        # add the tasks to self.tasks dictionary
+        for task in tasks:
+            self.tasks[task.id] = task
+
     def __str__(self) -> str:
         return f"Agent {self.id} \n path {self.path} \n  bundle {self.bundle} \n y(winning bids) {self.y} \n z(winning agents) {self.z} \n t(timestamps) {self.t} \n"
 
diff --git a/trajallocpy/CBBA.py b/trajallocpy/CBBA.py
index 90ea4b1..d8dd736 100644
--- a/trajallocpy/CBBA.py
+++ b/trajallocpy/CBBA.py
@@ -72,6 +72,9 @@ def __init__(
         self.removal_list = np.zeros(self.task_num, dtype=np.int8)
         self.removal_threshold = 15
 
+    def add_tasks(self, tasks):
+        self.tasks.extend(tasks)
+
     def getPathTasks(self) -> List[TrajectoryTask]:
         return self.tasks[self.path]
 
diff --git a/trajallocpy/Experiment.py b/trajallocpy/Experiment.py
index 0ba1cbe..cd26b3e 100644
--- a/trajallocpy/Experiment.py
+++ b/trajallocpy/Experiment.py
@@ -65,6 +65,13 @@ def evaluateSolution(self):
             max_path_cost,
         )
 
+    def add_tasks(self, tasks):
+        # TODO make sure that the tasks are within the search area
+
+        # TODO make sure that the tasks not already in the list
+        for robot in self.robot_list:
+            robot.add_tasks(tasks)
+
     def solve(self, profiling_enabled=False, debug=False):
         if profiling_enabled:
             print("Profiling enabled!")
diff --git a/trajallocpy/__init__.py b/trajallocpy/__init__.py
index 61da375..54782c1 100644
--- a/trajallocpy/__init__.py
+++ b/trajallocpy/__init__.py
@@ -1,3 +1,3 @@
 import trajallocpy.Agent
 import trajallocpy.Task
-from trajallocpy import ACBBA, CBBA, Agent, CoverageProblem, Task
+from trajallocpy import ACBBA, CBBA, Agent, CoverageProblem, Experiment, Task