{"entities":{"Q1719293":{"pageid":1730034,"ns":120,"title":"Item:Q1719293","lastrevid":57494847,"modified":"2026-03-31T04:09:48Z","type":"item","id":"Q1719293","labels":{"en":{"language":"en","value":"Formation control of multirobot based on I/O feedback linearization and potential function"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7017501"}},"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":"Q1719293$CB1C96F1-E2BB-4C5F-8334-20640AAF0434","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3ca16530180009971024ca530feb01ce3a763f58","datavalue":{"value":{"text":"Formation control of multirobot based on I/O feedback linearization and potential function","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1719293$7E9063B1-B01C-477F-918E-6061DECC60CE","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"70ee2ef739d6d1e8aa9d5b0e54c15390b76b48cb","datavalue":{"value":"1407.93017","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719293$16ACD43A-66BC-4CE8-991A-4BF888701201","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"03311e1bd24faf6583b2eef5d29a6a00f9ac80b9","datavalue":{"value":"10.1155/2014/874543","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719293$ADE93600-74D1-4713-871A-319ACEF04CCB","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1f9b8ddf6e692901918afed20217f76662634396","datavalue":{"value":{"entity-type":"item","numeric-id":944578,"id":"Q944578"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719293$E420015B-5394-49C2-B75E-07F4F04CA83A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"def6af806cb140c6cf448b4c55321dee708dbeb5","datavalue":{"value":{"entity-type":"item","numeric-id":822083,"id":"Q822083"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719293$9B976402-3C1C-4E9C-9847-242642CCD263","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"01740677c081bab00898025370807047622792ee","datavalue":{"value":{"entity-type":"item","numeric-id":328103,"id":"Q328103"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719293$B7992942-04BC-4A7C-B2DF-FC2F6785C7D5","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":"Q1719293$67692736-38C3-41DC-9923-AD495D3F0C0B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"32a6dc046c0aa99508538df457dbadf7aa620337","datavalue":{"value":{"time":"+2019-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1719293$E59F26DD-E963-43FD-BA06-84CC40037609","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"69ac2bec92d6fdf541b53d215f546305210e1d24","datavalue":{"value":"Summary: Standard techniques of I/O linearization are widely applied to leader-follower approach for multirobot formation control. However general leader-follower approach cannot adapt to the environment with obstacles. Concerning that issue, a formation control method of multirobot system based on potential function is proposed in this paper, and a new control law is designed by choosing a proper potential function and employing Lyapunov stability theory, which stabilizes the formation of the multirobot system. We combine the method with a leader-follower approach to solve the problem that the latter cannot avoid obstacles. Simulation results are given to validate the method.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1719293$14FD7500-8612-4929-B0CC-7E01733AEF46","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719293$97D9DB9C-1A39-4FD2-AD4D-C98477611A0C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719293$70D7026D-9579-409D-912F-1F8BD980ABAF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"fbbc9a6d1d4c10cc63a859f24d88ebce2fa5f470","datavalue":{"value":"37N35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719293$29F07FE9-E747-4064-B491-0821D27C2F4B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f71af8a8744e16b451227c13199a24aa2be98593","datavalue":{"value":"7017501","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719293$0657252D-66A2-4F10-99E5-1E65BB377C5C","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"0fadb44accfdbb8a4b8d83fa958a4509038bc8b6","datavalue":{"value":"Q59070335","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719293$50FF691D-0112-400B-A40B-237AA505F142","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":"Q1719293$25A78CFE-75FF-4247-8BC5-B0529297CD70","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"6c082352a04f8202f27d3bbf5042d940bf1255a4","datavalue":{"value":"https://doi.org/10.1155/2014/874543","type":"string"},"datatype":"url"},"type":"statement","id":"Q1719293$61B22AAC-7356-44D9-9CE9-773B0014C0E0","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"b120ac81fedde51a246b9724caa571f20e42cf9d","datavalue":{"value":"W1966919212","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719293$37C42812-5841-4A64-99EF-96F61266A6A3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"823f276285f41f8782d9ff3bc8ac64d9aca149bc","datavalue":{"value":{"entity-type":"item","numeric-id":4974458,"id":"Q4974458"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719293$A9FDCFEE-35DB-433E-A785-05ECD3B5CF6B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"af2fe3837acc290a0aad78d7520885b098fed450","datavalue":{"value":{"entity-type":"item","numeric-id":5323272,"id":"Q5323272"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719293$964F4169-EA62-4D6F-AEE0-D6566847D281","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"21ade0888ccded7cdbfd44b5743b179657b9d258","datavalue":{"value":{"entity-type":"item","numeric-id":1926474,"id":"Q1926474"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719293$BBF9C020-5653-4181-8829-0635B22F91CB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7bf825e1f831c39f233c832099b2a9549d7b30f0","datavalue":{"value":{"entity-type":"item","numeric-id":5273866,"id":"Q5273866"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719293$37F7AF49-30A0-4DB5-AB22-D2C0ABDB14E4","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b35044db7ac69efc46a023592aa2d7016788de4a","datavalue":{"value":{"entity-type":"item","numeric-id":2072543,"id":"Q2072543"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3e37c41fc671850c982668842c046fd4c7ff022a","datavalue":{"value":{"amount":"+0.7593538761138916","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1719293$E6BE6DE4-6C29-4853-8C15-BC48BE634B5D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a66c088a078f0a3bb61eddc0f074248bde73353f","datavalue":{"value":{"entity-type":"item","numeric-id":3381339,"id":"Q3381339"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"28b4da48ef7c5d893bb7e937c16baefa4b2cbfe7","datavalue":{"value":{"amount":"+0.7513828277587891","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":"Q1719293$0576C562-2E50-4353-BFC3-61D7D31D1887","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cf4a47861d151043808d709772d89128d53f83a8","datavalue":{"value":{"entity-type":"item","numeric-id":4915744,"id":"Q4915744"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"98340da23a86b6cd728858fe4ba87a6a758178d0","datavalue":{"value":{"amount":"+0.7504053115844727","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1719293$C79DD729-12E6-4518-9884-05D257ECCE2F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"eaecb65dae2fe6835ca7de60a1efc0486e1b4e19","datavalue":{"value":{"entity-type":"item","numeric-id":3517804,"id":"Q3517804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"714ac6abdfb6f37b0ce440198b5d1422324cf14b","datavalue":{"value":{"amount":"+0.7362571358680725","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":"Q1719293$327D8E71-85DF-4984-83FF-82D70D74CBC0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"aecda22508c0deef5286a054eb0f9d0670ece5e8","datavalue":{"value":{"entity-type":"item","numeric-id":614830,"id":"Q614830"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f8e9233669fa73004728b38f224e790fbaedaa02","datavalue":{"value":{"amount":"+0.7344042062759399","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":"Q1719293$5303BEFF-78EE-4E72-9FFD-594ACEC25697","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":"Q1719293$476AD808-B11A-4514-8B34-5B2AC894818F","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1719293","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1719293"}}}}}