Three-dimensional imaging with 2-D matrix probes is one of the most exciting recent ultrasound innovations. Unfortunately, the number of elements of a 2-D matrix probe is often very high, and reducing this number deteriorates the beam properties. In this paper, we propose a new sparse-array design technique with irregular element positioning, which significantly reduces the number of active elements as well as the grating-lobe level. In particular, we introduce a new cost function for optimizing the weighting coefficients of the elements and a new annealing-based algorithm to compute the lowest cost solutions. Numerical simulations show substantial improvements over standard sparse arrays.