In mobile robotics, cooperative multi-robot systems enable teams of agents to tackle tasks that exceed the capabilities of individual agents. Cooperative transport is highly demanding, as it requires coordinated motion, load handling, and navigation in obstacle-rich environments, while managing the physical coupling between robots. The overall goal is to design coordination strategies that ensure safe and efficient transport under both coupling constraints and environmental limitations. Therefore, this approach involves some technical challenges: maintaining formation consistency during navigation, coordinating motion through physical connections, managing obstacles, and ensuring operational safety. Addressing these issues requires an integrated approach that combines path planning with real-time formation control.