We investigate R-optimal designs for multi-response regression models with multi-factors, where the random errors in these models are correlated. Several theoretical results are derived for Roptimal designs, including scale invariance, reflection symmetry, line and plane symmetry, and dependence on the covariance matrix of the errors. All the results can be applied to linear and nonlinear models. In addition, an efficient algorithm based on an interior point method is developed for finding R-optimal designs on discrete design spaces. The algorithm is very flexible, and can be applied to any multi-response regression model.
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