Task allocation is a part of role allocation, but does not include all that autonomy can offer.
Parts of an agent's Role:
What can be delegated to an agent (assuming sufficient autonomy):
Most of these can be set at any level of Parasuraman, Sheridan, and Wickens' 10 levels of automation of decision and action selection.
A plan could be a (preset or created on the spot) combination of the above (with prioritized tasks) for quickly assigning roles and responsibilities to an agent.
Parts of the plan can be completed by the human operator (e.g., recruitment can be done by standard rectangle area selection or muster points, Organization can by chosen by the human and the agent supervisor can recruit to fill it in, work area can be selected by the clicking in the general area, etc).