{"entities":{"Q1980573":{"pageid":1991315,"ns":120,"title":"Item:Q1980573","lastrevid":54082421,"modified":"2026-01-26T05:26:56Z","type":"item","id":"Q1980573","labels":{"en":{"language":"en","value":"Collision avoidance for mobile robots based on an occupancy grid"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7392591"}},"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":"Q1980573$FB7EF9FE-3162-4FFE-A64B-255EE31561AD","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3a7ebd371576ec4586edf17d42131cbcbc83ce70","datavalue":{"value":{"text":"Collision avoidance for mobile robots based on an occupancy grid","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1980573$D3A36982-59B3-4F53-8DAA-C6A8056CC563","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"36f81bf27ac37cd6563112d58280c1e834800eb2","datavalue":{"value":"1471.93090","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1980573$56D034EF-6B3A-41E5-886F-4BC21AC34AFF","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"63de178bd95573ea89f148d63d39cfbd47b594e7","datavalue":{"value":"10.1007/978-3-030-63281-6_9","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1980573$6930EA50-94C1-4129-9FF2-BF3704A780A0","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f4d215fcdd2a57dfcfd3bfa476ed2897a450aa8e","datavalue":{"value":{"entity-type":"item","numeric-id":1980572,"id":"Q1980572"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1980573$1F8DE6DA-E958-45CF-B7CE-A240EB385104","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"e0a34c566225983433f9006f15108b45d4850d41","datavalue":{"value":{"time":"+2021-09-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1980573$BD573942-CD18-47B6-B1CF-A16E7D4AB08D","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"91a21f0be6001e0c739fe66fa082153cd1a98aa8","datavalue":{"value":"93B45","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1980573$5A0ECA73-B36E-4A56-BDCB-C04B1CA851E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1980573$2D971AA1-EA9E-474C-872D-B15B3310FF6E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"8da6d52848ebdafd14e3a2bef521895af1226cd6","datavalue":{"value":"7392591","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1980573$0B99F5D6-5100-44C0-A3A3-FA993457CAA8","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d28c0aedb784fd8e905856f161e9cf960433c0ec","datavalue":{"value":"distributed model predictive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1980573$2ED2CD3A-FD3F-4551-ADB6-ED7B1CE5D716","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"06a11beb74127d2c301eb0dd072c511101fa3c6e","datavalue":{"value":"mobile robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q1980573$9A02C421-ADD0-47FF-8032-A7FBD7FD2B60","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a00537ae25829dd26fd25f755b9ccf2d5f5057a3","datavalue":{"value":"noncooperative control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1980573$CBADA511-E2A2-4311-B5E1-A0D1A3EF26F0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6390079719a5ad8f3326563855ae353ae5e489d8","datavalue":{"value":"collision avoidance","type":"string"},"datatype":"string"},"type":"statement","id":"Q1980573$27304CCB-2E07-431A-8BCF-CD8358AFA008","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":"Q1980573$27E222EC-3BF6-4CC5-AA19-D306E84D32F2","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"1b6d920c7cc61de361458788d540bab8401eb9f0","datavalue":{"value":"https://doi.org/10.1007/978-3-030-63281-6_9","type":"string"},"datatype":"url"},"type":"statement","id":"Q1980573$3048C72B-FE43-4499-A8AF-A21FB3BFC348","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a965c005abc8e25f509e0b363eb5be0c2aeb4cf0","datavalue":{"value":"W3155291970","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1980573$6D39182A-A1D7-4495-9CD5-B3EC014810B4","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1664d7a4e681ba3cdfbc1880ba0ad7048cf05461","datavalue":{"value":{"entity-type":"item","numeric-id":5259013,"id":"Q5259013"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1980573$21F7EA7E-FD5E-4176-975E-69953C22D0CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"74e27b693f8e75133d399fe1baeb7c2a4ad6a77d","datavalue":{"value":{"entity-type":"item","numeric-id":2628694,"id":"Q2628694"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1980573$DF15AEB3-237C-4E35-881C-FDEC42CB3F28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"28ca25e2edf17dab8169a1567cc55cc71d2903bb","datavalue":{"value":{"entity-type":"item","numeric-id":2641788,"id":"Q2641788"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1980573$2E147133-215F-4B03-A21D-6FE57AF31189","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e1bfc8074a48315b13539dda39c1833cf8d11310","datavalue":{"value":{"entity-type":"item","numeric-id":4560096,"id":"Q4560096"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1980573$97A1CA49-BA06-4F06-8359-4CD6489A42DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0875fa574ac2dbf54dbdd788febaf0a856c703fc","datavalue":{"value":{"entity-type":"item","numeric-id":2195406,"id":"Q2195406"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1980573$385335BB-A250-4D2B-9676-A261FB0453A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"462d12417e063c4761875853b77b6a380ff06ddc","datavalue":{"value":{"entity-type":"item","numeric-id":1936150,"id":"Q1936150"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1980573$D3B3278B-710F-4DF6-B642-91B5D15141BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"190cd03d379884e750d144dfe24421d15b0c3179","datavalue":{"value":{"entity-type":"item","numeric-id":709271,"id":"Q709271"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1980573$D63DA3E9-9C73-4B4C-8A38-69D1526DFDF3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fb27fb3685d78be7d99484c1db92b42ffa40f7e5","datavalue":{"value":{"entity-type":"item","numeric-id":5358436,"id":"Q5358436"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1980573$86E19D1B-C551-495F-B0CE-B0E0B5BDB4D8","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7204a8a1216da93172dafab19c7a7e7c333c4a3f","datavalue":{"value":{"entity-type":"item","numeric-id":2195406,"id":"Q2195406"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"914524005f29946715b578c21d3c077cca21faed","datavalue":{"value":{"amount":"+0.7832330465316772","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1980573$BD89548C-8ACA-44E4-89F6-0D9FC1E0294A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"caba7fbea28076bde1dd1ddbedb8e3d3400bb089","datavalue":{"value":{"entity-type":"item","numeric-id":5165318,"id":"Q5165318"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9d18cfe2dd99fe9dbd9a3a5d417b14c3f5734f62","datavalue":{"value":{"amount":"+0.7680589556694031","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":"Q1980573$AB9B15CC-1D18-4AED-80C7-83D996AF9A60","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3d633a7c24988b041878742d424eb4f729a500c7","datavalue":{"value":{"entity-type":"item","numeric-id":4500130,"id":"Q4500130"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d22a19a5316a56a3da4636031b88193009c38fb3","datavalue":{"value":{"amount":"+0.720740020275116","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":"Q1980573$463CCE23-3574-4DBA-BFD8-BD8185384A99","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d6c23ff575d3d5812c590b0eb2b02678c8d1a8b2","datavalue":{"value":{"entity-type":"item","numeric-id":2914896,"id":"Q2914896"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"416ccac8905df4dc1e193e60824361904ab0f348","datavalue":{"value":{"amount":"+0.715376615524292","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1980573$DCAD95A9-1648-4015-92BC-8E6C7A0FEEA2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b76aa3238a0bf5aba20b88131cdfb746683d2fde","datavalue":{"value":{"entity-type":"item","numeric-id":1894683,"id":"Q1894683"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bb5d0b4160a644b211ae5c3fd8126fead4788230","datavalue":{"value":{"amount":"+0.7097815871238708","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":"Q1980573$84082FEF-1556-4A94-A89B-EAD93F90E3A3","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1980573","badges":[]}}}}}