Memoryless cooperative graph search based on the simulated annealing algorithm

This paper presents a control and coordination algorithm for a group of autonomous agents to find the optimal path in a partially known environment. The novel control law utilizes the simulated annealing algorithm to search for the optimal path avoiding obstacles and threats or being trapped into the local values, but converging to the global optimal path with probability 1. We also show the multi-agent searching for the optimal path based on the graph partitioning need much less computation than they work alone.