{"entities":{"Q1717859":{"pageid":1728600,"ns":120,"title":"Item:Q1717859","lastrevid":57237264,"modified":"2026-03-27T14:44:21Z","type":"item","id":"Q1717859","labels":{"en":{"language":"en","value":"Behavior-based formation control of swarm robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7015903"}},"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":"Q1717859$B0F116C6-B53C-445A-A630-6B19E6231911","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"6b564d68729368c1c217a7c9c88f4ba79456ccbe","datavalue":{"value":{"text":"Behavior-based formation control of swarm robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1717859$F5D730CF-3B6E-4E13-BDD8-5CDB486DC4A3","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"006b875cea9c5326aca46cda31beced7f5c14373","datavalue":{"value":"1407.93271","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717859$924473FE-FF0B-430E-B74C-E1D704A1AA85","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b922c1fa7c0bc0b9053c20be47898dab49488d80","datavalue":{"value":"10.1155/2014/205759","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717859$1D91F466-2A71-41B9-9289-4E24AA01B51E","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2e5eb5c370659e5819a1036b9fead897c3a997a8","datavalue":{"value":{"entity-type":"item","numeric-id":1654973,"id":"Q1654973"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$43EF829C-A917-4FF5-942C-383E685BB6B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"aace00d2faaff2a83941e793ec788d44ec0ca4b5","datavalue":{"value":{"entity-type":"item","numeric-id":1717857,"id":"Q1717857"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$5F1E1A76-DEC2-430F-9FC1-883A8450E8E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"47ecd0272962492ebf310a8402b2572145145816","datavalue":{"value":{"entity-type":"item","numeric-id":1717858,"id":"Q1717858"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$3BA09CF9-D53F-44E1-BCF9-226CFA661D8C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"b5ad42943c57735db740cfd97fd293b6dbe911c6","datavalue":{"value":{"entity-type":"item","numeric-id":350986,"id":"Q350986"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$467ADA48-51B6-4A65-A310-3DD1DB27C0C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e8b8f0d49c7b4257274dffdad9a7e9bc89cebd8b","datavalue":{"value":{"entity-type":"item","numeric-id":292578,"id":"Q292578"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$AF14E970-AB14-4B96-97A3-EC878CB03AB8","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$C1330709-5778-45F0-86B4-14E20CB97373","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"32a6dc046c0aa99508538df457dbadf7aa620337","datavalue":{"value":{"time":"+2019-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1717859$3688074C-682A-4F65-88EE-DB0468F6274C","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"15a3da81a6881fc4e08b123baeb681264005bf11","datavalue":{"value":"Summary: Swarm robotics is a specific research field of multirobotics where a large number of mobile robots are controlled in a coordinated way. Formation control is one of the most challenging goals for the coordination control of swarm robots. In this paper, a behavior-based control design approach is proposed for two kinds of important formation control problems: efficient initial formation and formation control while avoiding obstacles. In this approach, a classification-based searching method for generating large-scale robot formation is presented to reduce the computational complexity and speed up the initial formation process for any desired formation. The behavior-based method is applied for the formation control of swarm robot systems while navigating in an unknown environment with obstacles. Several groups of experimental results demonstrate the success of the proposed approach. These methods have potential applications for various swarm robot systems in both the simulation and the practical environments.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1717859$CF0607FD-3025-445E-B137-8610202AB709","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717859$082B338B-F066-4CF5-9DA3-51A1854E31C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0b1006ecdcb91702d2554181b647359ddd820223","datavalue":{"value":"94A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717859$31585994-13FD-4605-84EE-64CB28426948","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"69328698e84019a20661e9340a79afb8e15ef80f","datavalue":{"value":"7015903","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717859$AEBF95E1-E866-4319-8F4B-BDB1E9BDEC2B","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":"Q1717859$58C70C02-B6DD-4C34-9A26-EC3CB1755E91","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"b3d5069fd6fe56fbe9791cf4eb0b1ce29f6821cc","datavalue":{"value":"Q59063764","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717859$336E1279-DB06-4395-B649-02B5CE167449","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"e98b59e49e4a2358916c2505625c1c306f1000ac","datavalue":{"value":"https://doi.org/10.1155/2014/205759","type":"string"},"datatype":"url"},"type":"statement","id":"Q1717859$75E3B686-6DB6-4D42-B8BE-60A9B0C3D265","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"5e59bebd1b55a8a3002b6f9261c3a9e4e6c80b56","datavalue":{"value":"W2083205586","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717859$61692501-1692-45D9-B174-EA6952B12A4A","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"72962891ea70532e296ec0ffd6089c58beb5f3a6","datavalue":{"value":{"entity-type":"item","numeric-id":2440731,"id":"Q2440731"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$3542C746-40DF-4270-90BB-34A3B97E00E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"93a21eed364ed3c6aa6ba4a67f71ffbbc62e57f1","datavalue":{"value":{"entity-type":"item","numeric-id":954469,"id":"Q954469"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$4551AD58-A6CD-4A92-A087-739957DB3FB5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fab6cc39ce1c0c455df12ac50a4dbda2434df745","datavalue":{"value":{"entity-type":"item","numeric-id":5252950,"id":"Q5252950"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$9C80959E-1E05-4D21-9B8A-DDAE2D1746D2","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"36a4d26c1c2d6b594fd31e8942cccf5f58d888c5","datavalue":{"value":{"entity-type":"item","numeric-id":361015,"id":"Q361015"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fe776983b811ab0fb0a675de7151312aabb5ecd3","datavalue":{"value":{"amount":"+0.8111292123794556","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1717859$FA9ACA81-75DD-4DB7-BB20-8A2991C21FAE","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":"4617c997e2c7c9a1bbadfed10fd2d7799953cf06","datavalue":{"value":{"amount":"+0.7974451780319214","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":"Q1717859$8B104196-C8FE-47F5-B6C6-695B78C7FEAB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2e0c03755b899b0de56399739c47481955cdaede","datavalue":{"value":{"entity-type":"item","numeric-id":1932704,"id":"Q1932704"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"82b1775ffb610408a5c57e9049948c4e8550751e","datavalue":{"value":{"amount":"+0.7879845499992371","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":"Q1717859$82CB53A5-0AFB-43E7-9F18-57A9B3E675EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"def741b7ec54692ad5f21d72aa3534dbc0a608d1","datavalue":{"value":{"entity-type":"item","numeric-id":1049115,"id":"Q1049115"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"57d455cd1e3136699b9d3ec3cff76a480c7c2793","datavalue":{"value":{"amount":"+0.7877238392829895","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":"Q1717859$60853DA0-8ED7-458B-B5F2-90273ED2CB8A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"81fc9cf2426319e96f28f57796378558bef850d0","datavalue":{"value":{"entity-type":"item","numeric-id":954469,"id":"Q954469"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fe38a7d7e5943579641fff8a7d584611ab801b49","datavalue":{"value":{"amount":"+0.7822277545928955","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1717859$BF5D91D2-24EB-40DE-8702-73C1F34A9B0F","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"daf5f856a5d861312ad309ab567540337a5f61d6","datavalue":{"value":{"entity-type":"item","numeric-id":57050,"id":"Q57050"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717859$A0A57BD9-AF09-4E1E-9C59-30070B10FBB0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1717859","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1717859"}}}}}