{"entities":{"Q1622241":{"pageid":1632981,"ns":120,"title":"Item:Q1622241","lastrevid":43249368,"modified":"2025-07-22T19:26:15Z","type":"item","id":"Q1622241","labels":{"en":{"language":"en","value":"Distributed formation for robotic swarms considering their crossing motion"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6980809"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$281E0612-FE7E-486C-BB2E-99967A953AD1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3ba73021fdf31d473d5252261f871a2be514cb2c","datavalue":{"value":{"text":"Distributed formation for robotic swarms considering their crossing motion","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1622241$E5E5FF1C-2ADD-4CE4-ABFC-DA1D4F4082F9","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"cc172f234e97caf02e47494dbfb164485f1b9cef","datavalue":{"value":"1402.93027","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1622241$5F746BB8-FC6F-4AA0-B38C-732D1CABA4AC","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"20b5b0d87c44a527ad39ad4bd62f3757bd95bb16","datavalue":{"value":{"entity-type":"item","numeric-id":1622239,"id":"Q1622239"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$38AF4970-D68E-447A-9FAB-207D5DAC5974","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a12dacef5d62cb8664cb6b000a55b8875278c736","datavalue":{"value":{"entity-type":"item","numeric-id":1622240,"id":"Q1622240"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$1E23C493-C4C8-4E30-962B-DB27991ACA23","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3eb4f5c4db8a30ed999b8ad5d31f5ba513e4cff6","datavalue":{"value":{"entity-type":"item","numeric-id":1614367,"id":"Q1614367"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$9FE4C9E3-FC3D-4C99-AFE8-54489D379AA1","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$2F529E78-C83D-4481-9CEE-F3BD537D13DF","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"70557870201b729ab77a6b192278b18f48bb63c5","datavalue":{"value":{"time":"+2018-11-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1622241$87EE9811-E42F-4E34-B881-81C01DE67BB5","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"e77194d8fe1ce2f7e88cf443e0c144d524ce6daf","datavalue":{"value":"http://hdl.handle.net/2433/235440","type":"string"},"datatype":"url"},"type":"statement","id":"Q1622241$0949CA76-A769-4925-B039-A1E4C24999D7","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1622241$1974094B-69AA-45A2-BEFD-802DB967F421","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1622241$0B1C17D2-D4C1-4B6B-A772-ACEC9796A9E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"709ed67c42bb169499eabe0b6d04c203d4526e03","datavalue":{"value":"68T42","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1622241$FDE47FDA-4C57-43AC-A481-D0F734CAFD9A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1622241$E4666C45-4DB5-4F32-8751-EE995A901F51","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"22b9dbf9447ee43d9bad3ee26ddc625abb898fef","datavalue":{"value":"6980809","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1622241$9108DD6B-3907-4A20-A740-5E3E27667ACB","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"32197a35c2b85cf7a8f8b3863c0f98f5fd4a8174","datavalue":{"value":"robotic swarms","type":"string"},"datatype":"string"},"type":"statement","id":"Q1622241$33888DF3-5ED3-4B2F-A4C1-29B2DCC27A59","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"97f1ece938bab2deb13bbcefb0440dc52532076f","datavalue":{"value":"distributed formation","type":"string"},"datatype":"string"},"type":"statement","id":"Q1622241$4B2895F9-09D8-40CA-B544-A203A3715C10","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c758ee0617b9df4d4b8b243593b42493f9243851","datavalue":{"value":"crossing motion","type":"string"},"datatype":"string"},"type":"statement","id":"Q1622241$61463C91-F764-4550-AFD5-FE5A74E23295","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"d0fa092ad611bc6c08fc13165844b4d135fbf4d8","datavalue":{"value":{"entity-type":"item","numeric-id":54563,"id":"Q54563"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$C5195AF9-1F33-4C84-AA59-9FF8853C2AF2","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$3B237F3F-0969-4266-88BA-8C4141C2CA6C","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"dd8f32531b5ca9170d59f0892604ece4ae017661","datavalue":{"value":"W2892956886","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1622241$DAB28B87-3DFB-4E60-8A6F-E08119E9CDB3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d88e2b8098a1202f63a19086ed70e7bc46cb33b4","datavalue":{"value":{"entity-type":"item","numeric-id":5266820,"id":"Q5266820"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$FBDA8246-2A64-48BF-9DCF-30C542C6AD0D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dd6a84bc88c78f715cb00f260e0ecb7b645ea1dd","datavalue":{"value":{"entity-type":"item","numeric-id":5281778,"id":"Q5281778"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$31B67E64-519D-4FA3-BB4D-0ADFB6F149B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b742d738b5447a5683ced981363b83f6c7ff6c45","datavalue":{"value":{"entity-type":"item","numeric-id":5191330,"id":"Q5191330"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$6C656948-F0A0-48AB-9E65-E06E370D4A02","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3807f528ae5d54597da8f17ef55a807778eaedc3","datavalue":{"value":{"entity-type":"item","numeric-id":3580272,"id":"Q3580272"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$02BF84AD-EAD5-4F85-B96F-C230C00FA037","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3bd1b5158a92de299109e415c212d833b5b1333","datavalue":{"value":{"entity-type":"item","numeric-id":3450576,"id":"Q3450576"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$BA1710F4-3558-4ED0-A583-2D0468974EF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b81a4edb6fa24628d1bb3cd51e4b36c26f4c8d2a","datavalue":{"value":{"entity-type":"item","numeric-id":2789981,"id":"Q2789981"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$6D5538F5-392A-4F0B-8FA4-1CDDEA5B92DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"746c765694ca28f85698b8333195be81883ad66e","datavalue":{"value":{"entity-type":"item","numeric-id":2914896,"id":"Q2914896"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$CC9937A4-D867-492A-B33F-E0726C66D2B6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5122771bc616d5607972a0384060129e2ff4b67c","datavalue":{"value":{"entity-type":"item","numeric-id":2409466,"id":"Q2409466"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$E83BD0B5-FC97-4068-AEA9-42404FBBBCBA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2bbfb1aef6f01bbb48d088b70cc4642702d3e2b5","datavalue":{"value":{"entity-type":"item","numeric-id":5358509,"id":"Q5358509"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$6E3FC01B-4245-48CE-9542-7799E3E43D35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bfa8e5c9139d42d276b44fe3b85441c70da202c2","datavalue":{"value":{"entity-type":"item","numeric-id":5282368,"id":"Q5282368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$BA01D2AD-3BCF-48B4-8AF4-2DFCADD5A004","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b6d27dacc5c86087ff2495c99b8279b01d00250f","datavalue":{"value":{"entity-type":"item","numeric-id":2716030,"id":"Q2716030"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1622241$FC8AB5BD-F540-431A-8956-49F1C41A7053","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"e148ace92cda5881601b74d40bf4e769c58e933d","datavalue":{"value":"Q129180125","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1622241$ED70B44A-FC80-4F68-B615-37800D8064B7","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"265f5b735f995e6b6eaea8beb4bcdc4b5fa52f8a","datavalue":{"value":"10.1016/J.JFRANKLIN.2018.09.012","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1622241$DB58AB74-9D99-42BC-9859-C273CD308F84","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"33b5142cbd748d97a5aa8bf52b4d144ada166bd8","datavalue":{"value":{"entity-type":"item","numeric-id":4555912,"id":"Q4555912"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0327050200b107fdd58559a352d63fd6ac8e3fd8","datavalue":{"value":{"amount":"+0.9152587","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1622241$C4EA2082-27A0-4A8D-9520-43797C43B144","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"15d56071eb4a6c910d052cc5403dbad9438955f3","datavalue":{"value":{"entity-type":"item","numeric-id":633929,"id":"Q633929"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f96604606a1c99c9ebabb0d7198adbe1507b9282","datavalue":{"value":{"amount":"+0.8916704","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1622241$03A79D79-7429-401A-A9CC-65E58C2CA5D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f11a5d3c7dda9c35a97b2450fa6a0efcfbcff1d3","datavalue":{"value":{"entity-type":"item","numeric-id":1717859,"id":"Q1717859"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9bb834dd04704b8392fc1718b87a95b2ff45f4b7","datavalue":{"value":{"amount":"+0.88672954","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1622241$F6CD5B2B-C436-4132-BD70-A2B04AE9B6DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"79f778a6a01955da40b81dbfa7b5e8067490350c","datavalue":{"value":{"entity-type":"item","numeric-id":1022469,"id":"Q1022469"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eeaed8ad59cbbf37b334c4949e5c520750c3da25","datavalue":{"value":{"amount":"+0.8690969","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1622241$FF6A5988-0430-4BB7-A60B-0E2E34854163","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"390e0b5530df826a85c4be68cef164a0c7786c27","datavalue":{"value":{"entity-type":"item","numeric-id":5491761,"id":"Q5491761"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"aecdf337a8912e34043547cbc82ca237e59f5801","datavalue":{"value":{"amount":"+0.86747956","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1622241$2B93B2E9-986A-4576-821D-D545CC7FF410","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3b045905cc8db82cba646c0892811dc20e812efa","datavalue":{"value":{"entity-type":"item","numeric-id":5257688,"id":"Q5257688"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a0d974de6a7d7cea7ee586662640576679e273f8","datavalue":{"value":{"amount":"+0.86733025","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1622241$C63863F5-8474-4832-9F00-B1352D483904","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"81fc9cf2426319e96f28f57796378558bef850d0","datavalue":{"value":{"entity-type":"item","numeric-id":954469,"id":"Q954469"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f857cbecabad656d19197dc56e0980fda8221a42","datavalue":{"value":{"amount":"+0.8657888","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1622241$1ACC2104-4930-4BF8-860A-AA5726E3D8FC","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1622241","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1622241"}}}}}