Input: Tasks list , Robots list ,
    Distances between tasks
Output: Optimal allocation
(1) Define: Initial temperature , Final
 temperature , Iterations per temperature
, Current temperature ,
 Geometric coefficient , Transition probability
, Current allocation ,
 Neighbor allocation , Current cost
, Neighbor cost , Optimal
 cost
(2) generateValidSolution ( , ,
)
(3) getAllocationCost ( )
(4)
(5) while     do
(6)   for     to     do
(7)  
    generateNeighborSolution ( )
(8)   
   getAllocationCost ( )
(9)     if     then
(10)   
(11)    
(12)   if     then
(13)     
(14)     
(15)    end
(16)   else
(17)    Generate: A random number
   
(18)     =
    
(19)     if     then
(20)     
(21)     
(22)    end
(23)    end
(24)  end
(25)   =
(26) end
Algorithm 1: SA-based MRTA.