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In the physical experiment, the trajectory of each end-effector matches the expected trajectory, and the center trajectory of the transport object almost coincides with the virtual leader trajectory with acceptable error. Moreover, the simulation and physical example are provided to demonstrate the effectiveness of the proposed algorithm.<\/jats:p>","DOI":"10.1007\/s40747-023-01178-1","type":"journal-article","created":{"date-parts":[[2023,7,21]],"date-time":"2023-07-21T04:02:19Z","timestamp":1689912139000},"page":"343-355","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A discrete-time distributed optimization algorithm for cooperative transportation of multi-robot system"],"prefix":"10.1007","volume":"10","author":[{"given":"Xiwang","family":"Meng","sequence":"first","affiliation":[]},{"given":"Jiatao","family":"Sun","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7672-5129","authenticated-orcid":false,"given":"Qingshan","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Guoyi","family":"Chi","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,7,21]]},"reference":[{"key":"1178_CR1","doi-asserted-by":"publisher","unstructured":"Darmanin RN, Bugeja MK (2017) A review on multi-robot systems categorised by application domain. 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