{"entities":{"Q1696920":{"pageid":1707661,"ns":120,"title":"Item:Q1696920","lastrevid":56660559,"modified":"2026-03-18T11:54:02Z","type":"item","id":"Q1696920","labels":{"en":{"language":"en","value":"The planning of optimal motions of non-holonomic systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6839173"}},"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":"Q1696920$0C0D20AC-1DA2-4A26-AFCE-045C1C58CB80","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"598a5fc5017e1491dfaf44bdcf55f27d0f325778","datavalue":{"value":{"text":"The planning of optimal motions of non-holonomic systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1696920$3147168A-16C5-419C-BA86-DB0DD616723F","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"a534e72e6f1517cc59e3a77b14903a22ef3e6613","datavalue":{"value":"1380.70036","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1696920$0119F729-58AA-48EB-A22C-D4B664E77F90","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"b93d16140f9019e7b64962a3f3e566f3c0a299ce","datavalue":{"value":{"entity-type":"item","numeric-id":259430,"id":"Q259430"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$BCE9ED9D-206B-43D2-851B-DA0FA7AA7091","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"d3b6540a5cd6a7f15bca174716bb7f991ed59bfa","datavalue":{"value":{"entity-type":"item","numeric-id":65804,"id":"Q65804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$50E5EC18-6796-4417-864A-FBEAA3488525","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"b4c6e94e4207d62ceaab1dfe6120b87902418bcb","datavalue":{"value":{"time":"+2018-02-15T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1696920$EE54B904-7170-4B7F-9F06-50B4D6EE4D67","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c41c3b48806f65b48642453f3d3ae9504dc0ea98","datavalue":{"value":"70F25","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1696920$B0BC7558-0488-4020-BC3A-B2D07E5B867C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3dc4a925201d4c208530ca5d8c7ab3ad58842b50","datavalue":{"value":"70H30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1696920$3FDB4EF6-8D2E-4D9A-86C1-E43ABCD64641","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1696920$2A589DEA-E331-4EBA-8CEE-2E1170A82B72","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"992a33bc9526bb6f0e9e16d593e523847e36874c","datavalue":{"value":"6839173","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1696920$79C23C94-F03C-4858-966E-5F71C3184998","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"98dee607964b8804c7bcc4dbb9a2c3af75767a7c","datavalue":{"value":"non-holonomic systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q1696920$6BD5DAD4-1AE4-4F13-9478-BBDFDF80B402","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1696920$7D36705A-9228-4FA2-B84B-7AAEEF7CED10","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b8a947a4c41e1dc2296fa70c8def6e5e72367da9","datavalue":{"value":"collision-free trajectories","type":"string"},"datatype":"string"},"type":"statement","id":"Q1696920$E04C52DC-E769-4100-BD9E-56AE44163196","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"c388b6f642abbb5591e2c5a477786b5efd1c8d82","datavalue":{"value":"Q59610475","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1696920$D325E97B-9201-416E-BB43-37EA43042F62","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$D579D20B-3DB9-4791-B320-9D85812DDC82","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"96659b7d2a7ee5d33adc89e64d09308cd51f47cc","datavalue":{"value":"https://doi.org/10.1007/s11071-017-3793-6","type":"string"},"datatype":"url"},"type":"statement","id":"Q1696920$AD093D51-132D-40F1-AC57-F9596C7BC941","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"73b91688119d0817cec65ccc642445e7ba082125","datavalue":{"value":"W2755660373","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1696920$8BBADDCA-EE1D-4A7D-BA4B-F389064EBAD5","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1c1b9e3f54ba23dab4b389e293dfb290e9ed2109","datavalue":{"value":{"entity-type":"item","numeric-id":686739,"id":"Q686739"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$239AA32E-7375-4ACE-B996-A9DC1EF7238B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$21CF3EA8-7B86-43BF-B0F6-A58A94741052","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e10aabc954c955aa12c0df4b8f523cf474d87ba6","datavalue":{"value":{"entity-type":"item","numeric-id":3416735,"id":"Q3416735"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$30E06494-EACB-470A-BB70-1E0F60E15E47","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6713c334d4a07999e451314fba6d14205495cf1d","datavalue":{"value":{"entity-type":"item","numeric-id":4246860,"id":"Q4246860"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$6E58222C-713A-4D96-A752-5E4976206550","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"086f9383fd30e31fb7476171dce9df1864887440","datavalue":{"value":{"entity-type":"item","numeric-id":4246863,"id":"Q4246863"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$8E263B9E-60D5-4A88-91DA-DF76D5F10417","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f2b7be2ba23edac78324f9cc334604f06a8f03f9","datavalue":{"value":{"entity-type":"item","numeric-id":3913350,"id":"Q3913350"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$435895D8-A7C0-4A89-BDE3-4D606FAA4600","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3a8fafde3b101609b8451445bfcf4bc33a06e5eb","datavalue":{"value":{"entity-type":"item","numeric-id":4306693,"id":"Q4306693"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$F0B7D81A-859B-4F3D-B9AD-EB332D5E65C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"25a3c1ff20a66a3e7652ec05f2af0ca0718825b8","datavalue":{"value":{"entity-type":"item","numeric-id":2551613,"id":"Q2551613"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$17D4E2D9-D622-4F50-8FF2-E20D643B3DA4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2b6d2b49e8cfad926c235174ab1f1120631817e5","datavalue":{"value":{"entity-type":"item","numeric-id":4194725,"id":"Q4194725"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$1DCFD48F-C078-401A-95C0-1A664A67B168","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5db28bf14f30277606ad2611ea31346562b1a1c2","datavalue":{"value":{"entity-type":"item","numeric-id":3127354,"id":"Q3127354"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$7C3A6E67-D3FD-4BB3-8EFC-E6A4982775B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"86f190912fb6f154d945d6b3c30cd233dd45a98e","datavalue":{"value":{"entity-type":"item","numeric-id":3020398,"id":"Q3020398"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$03CD1189-EF07-4C79-B506-04E60587D3B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"adabc36f4a884d0ed3387f831ba0f027f81f6c55","datavalue":{"value":{"entity-type":"item","numeric-id":5807869,"id":"Q5807869"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$F8C053AE-C2A5-4283-B0A9-3770B0867025","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"635f91bacccb0c1b885f16f1bb73163aa4a7d52f","datavalue":{"value":{"entity-type":"item","numeric-id":3917084,"id":"Q3917084"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$56CFD172-F4F9-4419-A01F-F6A5EB26CEF2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7243a7a26015c0b5f10512e0def9fe9ab7981c62","datavalue":{"value":{"entity-type":"item","numeric-id":3951134,"id":"Q3951134"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$E4D2C5B5-AF45-4482-A0E6-624715DD03D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4c714af3d7ccbdc1fc744bf7ef6a018974057a22","datavalue":{"value":{"entity-type":"item","numeric-id":3751475,"id":"Q3751475"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$7D7B7111-AFC6-4D0D-B993-6DC99DFD9853","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ad8d262b8c68ce82d10918cf5610c82373de636d","datavalue":{"value":{"entity-type":"item","numeric-id":3285813,"id":"Q3285813"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$BB76FB70-10BC-4A82-B772-8783C7810A8E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a9316ee14b9c7f84b302e12aa113c3d9df4add2a","datavalue":{"value":{"entity-type":"item","numeric-id":331200,"id":"Q331200"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$4D32D7B2-BD97-4540-89A8-0D164B50313D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d1b39a88a5267007b19fe574c60c6aed17ded8c4","datavalue":{"value":{"entity-type":"item","numeric-id":3826450,"id":"Q3826450"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$29F84710-69DC-4196-A4D4-D49F55BC9B89","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d26ec468c8f3803c60721fe63a9378f142cfd4c3","datavalue":{"value":{"entity-type":"item","numeric-id":3491090,"id":"Q3491090"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$0B73E342-45C1-406D-91E0-FDA19DB5B51D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c0385818c96c219a95906ef1eca2d3ddca990d1d","datavalue":{"value":{"entity-type":"item","numeric-id":4026332,"id":"Q4026332"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$6C8103B6-2463-416F-9A02-0C80893A1D01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7f2d125d4a2deba2326ced04b994138744d3d919","datavalue":{"value":{"entity-type":"item","numeric-id":330982,"id":"Q330982"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$600AC34E-9E13-4322-8D9E-020DE22CE619","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"343dc004fc92559e6e737882a14d23d42139afc4","datavalue":{"value":{"entity-type":"item","numeric-id":4803280,"id":"Q4803280"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$282F2F2F-79B9-496F-83FF-A82217CA25AD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a2bc44e1a800987a4e1c16c5b73dd94e3508b593","datavalue":{"value":{"entity-type":"item","numeric-id":5788555,"id":"Q5788555"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$BB295391-0FB0-4865-8B87-5F7B06CCACC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de1d7742ce6bc3e5b160437863db6af1a4210ecb","datavalue":{"value":{"entity-type":"item","numeric-id":1108991,"id":"Q1108991"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$98933EBE-5301-4C48-81D9-27F5449AC80F","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"cbadb72aec7235cef0cde50d2cd8b7d7e6cb07f7","datavalue":{"value":"10.1007/S11071-017-3793-6","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1696920$20A82AE9-CDFA-4307-9A72-BDC458E4B8D1","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"daf0725064f490b0fea800da26eef503fd9ab05a","datavalue":{"value":{"entity-type":"item","numeric-id":4848592,"id":"Q4848592"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"907d58723ad476985043e7f496af070e0abbaed4","datavalue":{"value":{"amount":"+0.8465495109558105","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1696920$50AEDBB4-332A-4CD0-8DD9-D6FEABA9FD15","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"224ebef12f14e7fe27f99b40adf9783d9df08b11","datavalue":{"value":{"entity-type":"item","numeric-id":4365952,"id":"Q4365952"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0d60f2386c3491318574f58eeb04f72ec942e892","datavalue":{"value":{"amount":"+0.8207811117172241","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1696920$91CF5116-5991-4298-8141-142F2927BFB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bb2d965fc7bcab52d0c46bd51340d90da5c03a46","datavalue":{"value":{"entity-type":"item","numeric-id":3136884,"id":"Q3136884"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d073a1d997055f3ca57ac9b99b34b9043381fde4","datavalue":{"value":{"amount":"+0.8203604817390442","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1696920$AEFB3DF7-F846-411D-9A3A-06FD4E9BAE0A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"61f5c1f47a514533cadc66f17b28ef8bf1727f73","datavalue":{"value":{"entity-type":"item","numeric-id":1922181,"id":"Q1922181"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"345ee6cbcef1f99a4a9dcf2cbc2582b2a5b516a2","datavalue":{"value":{"amount":"+0.8129339814186096","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1696920$981F5A73-21E6-49CC-9F4A-B0D26F9CC606","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"06ab148ca7ccb6acaeb0a0fab3e78e2a0736f1f6","datavalue":{"value":{"entity-type":"item","numeric-id":330982,"id":"Q330982"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"70d5e2a6d980ce443d00d1dddde2993b0e29507e","datavalue":{"value":{"amount":"+0.8119437098503113","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1696920$BBFC7415-2C40-441A-BB30-8B4C386CE05F","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1696920$DB019876-B4C5-4B59-9AC4-BCB747AD6550","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1696920","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1696920"}}}}}