{"entities":{"Q1697168":{"pageid":1707909,"ns":120,"title":"Item:Q1697168","lastrevid":68208570,"modified":"2026-04-12T22:09:09Z","type":"item","id":"Q1697168","labels":{"en":{"language":"en","value":"Distributed formation tracking using local coordinate systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6839334"}},"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":"Q1697168$D87CE2D7-870E-461E-83C9-C0A7106E10A5","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"49947b1dd1ecc264abb5cd6929410c0e9affb720","datavalue":{"value":{"text":"Distributed formation tracking using local coordinate systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1697168$439D93DC-A8C7-4ECC-9451-084D56AF1BA5","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"88a0ceeb24455f480b6ea1302a4cd02d8f775a33","datavalue":{"value":"1380.93025","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1697168$EC25C3D0-926D-4C15-9F52-750D5F282DAD","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"0ddf53fb09c4e4ee45ac66fffeba937512fdd55d","datavalue":{"value":{"entity-type":"item","numeric-id":1667024,"id":"Q1667024"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$CD78F30A-EF71-40F3-A278-D03B85131DA9","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b1ed7a090d8f1d0a3795177bace50e8f939f7c97","datavalue":{"value":{"entity-type":"item","numeric-id":196914,"id":"Q196914"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$3E551BE8-F811-4C47-AF3C-E28173EE827D","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":"Q1697168$5B85771B-EDB4-49FE-9FA8-3DE13446093B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"7b8f3f9dba7dab8fb6b764d41c99fdd4fe38c35f","datavalue":{"value":"https://pure.rug.nl/ws/files/50335220/Formation_tracking.pdf","type":"string"},"datatype":"url"},"type":"statement","id":"Q1697168$113B2760-3519-4B04-B7D3-C427C3BCADBE","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1697168$6DBC15A2-86AB-4330-AC36-B072430C0E18","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"709ed67c42bb169499eabe0b6d04c203d4526e03","datavalue":{"value":"68T42","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1697168$4F4AACD5-1957-4BEF-B059-5F5CCDBE8889","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"239a4a174af03c82b61364f762873d53ef0a37ef","datavalue":{"value":"05C90","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1697168$EC0DAB18-ED63-468C-83D0-285E3599AB85","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"22a23f1b6d3ba8ed96821c129e76128568c5fc4e","datavalue":{"value":"6839334","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1697168$E6FE2650-83B6-4372-B12B-D665F82BF88C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9a65dade00f13fa27a18530b615cf4b975c18ec0","datavalue":{"value":"formation control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1697168$2594D069-5E34-477C-8FC5-9B5D00777E14","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"909c9f8fa7fc29f3d53fb58844f728dc815f3ba9","datavalue":{"value":"cooperative control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1697168$951AE55A-A8ED-44C3-9AFE-46AE4F0BB037","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3a87203171201695054be0d124d55ffd9c936bca","datavalue":{"value":"rigidity graph theory","type":"string"},"datatype":"string"},"type":"statement","id":"Q1697168$7D23B0E8-0DAC-495F-8272-A8984C20E999","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"65c3b98487eb404131cfd6dc457f97f412fed996","datavalue":{"value":"multi-agent systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q1697168$31279467-9BB1-4CD3-AFF2-11A2E4754D40","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":"Q1697168$675AED9F-5062-4EEB-93DA-9C603460FE1B","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"63e3e4f814f7f24def1d126951b381086c893450","datavalue":{"value":"W2768728398","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1697168$7227A9B4-2042-456D-9F80-10DBD18E5B21","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"65411ee9589f88c0745ea14f9224fbc6f61dcf50","datavalue":{"value":{"entity-type":"item","numeric-id":3617224,"id":"Q3617224"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$757C214D-0899-4704-8187-A378D789431A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1d37f58d06354c45da522edb520408e735102bfc","datavalue":{"value":{"entity-type":"item","numeric-id":5358440,"id":"Q5358440"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$AF9E6026-93A3-4621-8C25-DF8E0360911C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"617ca028f3503f8ad7a689403828b09ab1fdfedd","datavalue":{"value":{"entity-type":"item","numeric-id":880153,"id":"Q880153"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$9F213BD9-C799-47EE-A226-1891BBCFD6B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4c718775b2f386d03b326f8e57ac0d11e918f089","datavalue":{"value":{"entity-type":"item","numeric-id":4974175,"id":"Q4974175"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$87175CCE-E051-4F5C-B8C6-4A4AD4B6DBB6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"98c5afb4e8d287e7c8ed39a86863a7322bf10a47","datavalue":{"value":{"entity-type":"item","numeric-id":900659,"id":"Q900659"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$D7D1160D-E662-4D5D-9815-221C03CBAA8C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e955ca1eb4068fb3b45abc4a078e55cd748bf4e8","datavalue":{"value":{"entity-type":"item","numeric-id":983209,"id":"Q983209"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$701C8BD3-1253-4365-98B8-52A9BABD6C5F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3e4f1fd95622a22435a42d27ed42b81888a4856d","datavalue":{"value":{"entity-type":"item","numeric-id":534298,"id":"Q534298"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$ED549D98-B6EB-4767-9981-783AC97A8C8D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3900d05931619dac6404f426365f06df733a4c3d","datavalue":{"value":{"entity-type":"item","numeric-id":2925114,"id":"Q2925114"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$E2457864-DC5E-4043-9CB9-FC2C8F8AEC13","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9dde8a1c8962a3af74eb862cc5b6e2c2edd1abe7","datavalue":{"value":{"entity-type":"item","numeric-id":2409279,"id":"Q2409279"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$4AADA173-88DF-4F99-BAFF-A02CCAD4260B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9abf68818dceb26a04d8434ded51639c582760ca","datavalue":{"value":{"entity-type":"item","numeric-id":2980328,"id":"Q2980328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$95210643-3B2D-4603-B945-14484E8786D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bd3ac74e1ad366b596de0d54af1118e4e85cbf55","datavalue":{"value":{"entity-type":"item","numeric-id":286297,"id":"Q286297"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$0D6A6D9D-E5FB-48B3-B634-EA98C3E5F561","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d018900f34e4694e30efbedc7b2927dd58dccece","datavalue":{"value":{"entity-type":"item","numeric-id":3532486,"id":"Q3532486"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$1E783FAA-7CED-4B17-923E-E92C9E9F1ED7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7119071f14b20b6157179498bebd7207c6280671","datavalue":{"value":{"entity-type":"item","numeric-id":606402,"id":"Q606402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$72437E5C-CCC4-40FF-B967-3519E2F58F93","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eaf45311318f7eb68150964051a67dc08af88c40","datavalue":{"value":{"entity-type":"item","numeric-id":2467489,"id":"Q2467489"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$4D49897B-58DF-40E5-B414-DE66F9C004A6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"110bafccab9519750aaf51d0094c78c951408112","datavalue":{"value":{"entity-type":"item","numeric-id":606406,"id":"Q606406"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$995A12A1-91BE-4D03-94F8-104D9790F945","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3ca15d916d3bca8341bae056db0e3fac1f574abe","datavalue":{"value":{"entity-type":"item","numeric-id":2983140,"id":"Q2983140"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$F52B807F-9C39-439C-B07C-D22A28BBA539","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c13ceb32dd5cccb062bcc020bf66598221f009f1","datavalue":{"value":{"entity-type":"item","numeric-id":2643471,"id":"Q2643471"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$D11EEADC-A02A-437B-BAB7-63D49793FF98","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"660f6d5701102225bd3d39dac33260557505a0ef","datavalue":{"value":{"entity-type":"item","numeric-id":463917,"id":"Q463917"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$E58093C0-BE61-41A1-8EEA-14C51CD95859","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f272c1e63f6ea459a53868e75e088ef86b3ee8f1","datavalue":{"value":{"entity-type":"item","numeric-id":490800,"id":"Q490800"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$DB65793C-5781-4414-B921-CAB491E2E01B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"47455a8283af637efc604800d90c4f38beb7ed57","datavalue":{"value":{"entity-type":"item","numeric-id":5358659,"id":"Q5358659"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$2C85C9D6-DA03-45DD-AE57-BE9F4D6F4914","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"72a4ab397185236bbfd30219ebb1192913e8807f","datavalue":{"value":{"entity-type":"item","numeric-id":5353224,"id":"Q5353224"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$59357C32-E095-4241-95B5-3E79A7D87FE9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d41eaa885464242efa1d46ac61af3a0ecbc6681","datavalue":{"value":{"entity-type":"item","numeric-id":1142791,"id":"Q1142791"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$42EBA26D-CE89-46D5-9C75-9DE4F232E662","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f346c003d44cff3199bcf6737c951503743bf4d","datavalue":{"value":{"entity-type":"item","numeric-id":3990103,"id":"Q3990103"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$57F34F95-4C47-4514-8825-1B8A016AE822","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8aba0f1101fc36f1477ae96e72da5a30abc0356e","datavalue":{"value":{"entity-type":"item","numeric-id":5375677,"id":"Q5375677"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$E2038A1B-D55D-4ED7-AC1A-C6C1D14163E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3d7c9e5df45ac8d9e2ca7dd7f22086bb2c0a1a87","datavalue":{"value":{"entity-type":"item","numeric-id":5273870,"id":"Q5273870"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$5A71BA41-63EF-4617-9151-76F2E1ACD099","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"579ed0793d54fdc3939bb56fe0fe1ee9c70ebc56","datavalue":{"value":{"entity-type":"item","numeric-id":4978782,"id":"Q4978782"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$E2D1DB07-09C3-4FDF-BD06-B660017C7F08","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1e7c3bafed2e8359c60f62c4d4d1492024107aff","datavalue":{"value":{"entity-type":"item","numeric-id":4873761,"id":"Q4873761"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$8785A609-B844-48E1-943F-9D5686022E4F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$B6723605-DFDD-4EB0-8FF5-91ECBA1A1580","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e0d75d9a7f7399afc1455e61819818309845af47","datavalue":{"value":{"entity-type":"item","numeric-id":5300156,"id":"Q5300156"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$E2E0E4E9-AE5A-4A64-BACB-4CC87E4197B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1a6b3d06736f115c24aa5122a8d51bff01d1fe64","datavalue":{"value":{"entity-type":"item","numeric-id":2983284,"id":"Q2983284"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1697168$E9EBABEE-6243-4EAD-91AF-259BF3BDBE48","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"3d1d38aa600dd1df708ff9a69dc40d7abdfcab6c","datavalue":{"value":"10.1016/J.SYSCONLE.2017.11.004","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1697168$AE25B6D1-A7BD-4777-BD7D-74FA5B142D4B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"21a1bed16b8ee26f71b857a23e5e5baafec703f8","datavalue":{"value":{"entity-type":"item","numeric-id":2979340,"id":"Q2979340"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fcc5458d263dd2df47b635359484649f6a9484f9","datavalue":{"value":{"amount":"+0.93871814","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":"Q1697168$37162A14-722F-4E1E-A044-8E82E0EFF8E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"67e4d985a9272b90b44607b061eca997b9027fb5","datavalue":{"value":{"entity-type":"item","numeric-id":2974255,"id":"Q2974255"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"11ce13f892d964a5b619a630d78d98b893987e9e","datavalue":{"value":{"amount":"+0.8886552","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":"Q1697168$9CCBB726-ED77-446B-B52E-99BB985618DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ed562653ef9a4c942bdf9d82bd9a41f3ef1be09f","datavalue":{"value":{"entity-type":"item","numeric-id":2409290,"id":"Q2409290"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3c1a7afd6b9dd9fed59a8f4414cb3b47b724005c","datavalue":{"value":{"amount":"+0.8797736","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1697168$D60AB206-97B6-4F4D-90D1-7D016CA0E21A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"467429bfce3c77134664506127fc63ff800d1bee","datavalue":{"value":{"entity-type":"item","numeric-id":3384414,"id":"Q3384414"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f21846868e0316168897ed9fc8d4167989f2e406","datavalue":{"value":{"amount":"+0.87806857","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":"Q1697168$7F969F43-6162-4EEB-80AC-9ED3A5D5F3C9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d5c43f6ba9b8415305fbf2acf083b5ccb31073b4","datavalue":{"value":{"entity-type":"item","numeric-id":6061073,"id":"Q6061073"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6e07dbe95f372f09991f13b2fa65e9a0e23d3017","datavalue":{"value":{"amount":"+0.8635813","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":"Q1697168$3F93A55A-F396-4E39-9599-977A07406C92","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9c6c91583a13184cf38062730d91bdcfdf936950","datavalue":{"value":{"entity-type":"item","numeric-id":2983284,"id":"Q2983284"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"75adeecd16ea21e66db895c4e9f63f53387a88f7","datavalue":{"value":{"amount":"+0.86160743","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":"Q1697168$1B31E01C-3B55-41E6-B865-82AE7C788C0F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fb9c2cbea8b1fc8bebe08481f2942b9fcd68bc75","datavalue":{"value":{"entity-type":"item","numeric-id":5352670,"id":"Q5352670"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3e304ba07fa3e9c279d7017d0a6d0ac609870414","datavalue":{"value":{"amount":"+0.85783505","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1697168$A7A46ED9-7E3C-4C09-8058-FF2FCBE0200C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a7ccbe3dc9548295b50eeeff5de19f42a97677ff","datavalue":{"value":{"entity-type":"item","numeric-id":3183739,"id":"Q3183739"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b0ed8c8fb11f82e65e9c9829dae1f37b07a4d357","datavalue":{"value":{"amount":"+0.85684055","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":"Q1697168$1CBA4C26-9FE5-4DBE-8010-245D9B15A5EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"16032fa5e82e2bde90ad0b805652320ebced2bc9","datavalue":{"value":{"entity-type":"item","numeric-id":2804449,"id":"Q2804449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1e7e1ccfd14f76c323cf0dc58ae9a5a065f1c572","datavalue":{"value":{"amount":"+0.85672957","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":"Q1697168$246C8F5E-61DF-415A-A7BA-201EA12E73C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f2cdfa7885e4d2379c95142eed7f97643eca87ce","datavalue":{"value":{"entity-type":"item","numeric-id":5471555,"id":"Q5471555"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8518f254bfa19defc575175f40a9dc2985ffe9a3","datavalue":{"value":{"amount":"+0.85604495","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1697168$E58DC204-C98A-4FBA-9F36-D21622E487BD","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Distributed formation tracking using local coordinate systems","badges":[]}}}}}