{"entities":{"Q2086969":{"pageid":2097711,"ns":120,"title":"Item:Q2086969","lastrevid":71301840,"modified":"2026-04-13T21:18:51Z","type":"item","id":"Q2086969","labels":{"en":{"language":"en","value":"Nonlinear observability analysis of multi-robot cooperative localization"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7607821"}},"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":"Q2086969$CB2AB3CD-8AB8-4369-B6DA-B83291049621","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"94abb4592ae43978ce70905b986cf7b567e1a8fc","datavalue":{"value":{"text":"Nonlinear observability analysis of multi-robot cooperative localization","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2086969$E6B4EEEF-6843-43F9-9CEB-35D02617B09C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"410cd474e782144a159dfcca911f7e7257e7f0fb","datavalue":{"value":"1503.93014","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086969$417BAA03-741E-4637-84CC-B92D03D0E916","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"25ed70d893adb146c33bb4f0948721e1eaba952d","datavalue":{"value":{"entity-type":"item","numeric-id":1782117,"id":"Q1782117"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$BC3630B5-C0C3-4A4E-91EF-DA0A176EAC73","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"34d3218c976d96fa3e60a4bc986600688a824f86","datavalue":{"value":{"entity-type":"item","numeric-id":680556,"id":"Q680556"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$D6ECAE36-A213-40A7-8EF1-593329B16803","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"35872e8108525b2b68bc560fad45a5c54838219e","datavalue":{"value":{"entity-type":"item","numeric-id":363009,"id":"Q363009"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$F2ACDB73-CA9E-422B-A7CB-E678DA50581D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6cc1562747f61a4397fd5e3e463cbb332ad1f787","datavalue":{"value":{"entity-type":"item","numeric-id":2086968,"id":"Q2086968"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$0D554197-26C0-4FA0-B031-C209BD8363DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"dbaf07d336cbee82efa748ab25eacf6b844a5632","datavalue":{"value":{"entity-type":"item","numeric-id":308024,"id":"Q308024"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$EC5093A3-CEBF-47BB-8FB9-4C29D1683D19","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":"Q2086969$C3BCAE0F-7993-41BA-8BCD-87FEEA91F6FA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"d9de88953c28cb856d02e89779ca1cbe762b53f8","datavalue":{"value":{"time":"+2022-10-26T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2086969$5F9247FA-7CEF-42BF-A752-478B90AC4B3E","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"fa31302a6315eb00d745d9c7dacf89c33763ee49","datavalue":{"value":"93B07","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086969$6E028878-0E10-441B-B88B-589C91C056A8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086969$3C99B4DA-6E07-47E6-B299-2430FCDF1A8D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"087647ba2abb2bab4ed9f998c2f5e73922e112f3","datavalue":{"value":"93A16","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086969$2CE3D364-CF83-43B9-A528-6ECE6133F337","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"239a4a174af03c82b61364f762873d53ef0a37ef","datavalue":{"value":"05C90","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086969$64F20289-F121-427C-B681-D56490C790D4","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"d930bea1c0b2388c02cb9c64ace245679cb9aaf8","datavalue":{"value":"7607821","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086969$E5E405FA-F44D-436E-806A-6F14247F29C8","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c56a9728eae3f686e36cb0c607ebcec6d744e5e8","datavalue":{"value":"multi-robot system","type":"string"},"datatype":"string"},"type":"statement","id":"Q2086969$ECBB8868-D4B2-400F-90DF-20BFE689953F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fecbb26b1a3f180ba8878cb25b8052f1a05f1abb","datavalue":{"value":"cooperative localization","type":"string"},"datatype":"string"},"type":"statement","id":"Q2086969$15526798-1AC3-4C54-828D-5C48A3A906DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"de876f8eedfada4c287af53a9deea0ab8a8f78ae","datavalue":{"value":"nonlinear observability","type":"string"},"datatype":"string"},"type":"statement","id":"Q2086969$5CDC0E02-BDA1-409F-98FD-B14E16B00BD5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"05be6754d4964f25be10115147d1ff0acee655b9","datavalue":{"value":"spectral graph theory","type":"string"},"datatype":"string"},"type":"statement","id":"Q2086969$07AC98B6-F2E6-4280-AC27-2E1F27075759","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":"Q2086969$18E970A7-9393-4AA1-8DB1-B18CE99E66D7","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"4563fa7d666012c362cb4f3c02432fdad19f9dec","datavalue":{"value":"https://doi.org/10.1016/j.sysconle.2022.105340","type":"string"},"datatype":"url"},"type":"statement","id":"Q2086969$A2E25901-046F-4D21-BAFE-4A6D4DB141FD","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"ada1f482091d7836144e37f04b0e72ec2203bd3f","datavalue":{"value":"W4290850596","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086969$7FC90858-7AEA-4412-A550-876FDBFC191C","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"82b4869508d7646b7370b82974983637b982fa9f","datavalue":{"value":{"entity-type":"item","numeric-id":4614003,"id":"Q4614003"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$CF93EC24-726E-4D9F-BEA2-B421B0829122","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5122771bc616d5607972a0384060129e2ff4b67c","datavalue":{"value":{"entity-type":"item","numeric-id":2409466,"id":"Q2409466"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$27E6658B-53C0-42DF-9282-4C7B52AC8093","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"707e26da3f788f900a01e568a1a99b7a10ca9415","datavalue":{"value":{"entity-type":"item","numeric-id":5353097,"id":"Q5353097"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$C154A777-F85B-40E9-8BE6-DE99D0073D7B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"88e7b862033d0d93dd8b23b4a11346d2b32a1ef6","datavalue":{"value":{"entity-type":"item","numeric-id":2124487,"id":"Q2124487"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$F57949DA-D487-4FF3-A4E2-3765D3359A89","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eee336e720b7b6e36ccb0cb526bf3abaac25c139","datavalue":{"value":{"entity-type":"item","numeric-id":4180215,"id":"Q4180215"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086969$A6DEDB69-CA42-480D-88C2-49FCE7547AFD","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"e3c3479348440fa89c926e287482b9b61761ad1b","datavalue":{"value":"10.1016/J.SYSCONLE.2022.105340","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086969$E6BFEA51-DD42-43DC-9379-5DCB1B3ABC9C","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8f7c3c3a6a227d5ca795eaf2763adbb73048c0f1","datavalue":{"value":{"entity-type":"item","numeric-id":2124487,"id":"Q2124487"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5e1b27d4373d054210d3469961426a4fb0b2aa64","datavalue":{"value":{"amount":"+0.9029844","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":"Q2086969$71EA71BC-EB9B-4D15-A866-18968E74DCF3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5337c91ad79708d7b965e460c03531b72cc1bed5","datavalue":{"value":{"entity-type":"item","numeric-id":5026915,"id":"Q5026915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b4f90654cb01938993275e6703b32df164d55b0d","datavalue":{"value":{"amount":"+0.89587724","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2086969$A863BBD8-3A44-4757-BF39-491EBC535890","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"67fa35ff3228769f1ad36c8dcdec73f2953daf66","datavalue":{"value":{"entity-type":"item","numeric-id":5497370,"id":"Q5497370"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a2124a82312e182d6f2e9650feda5319c1c8bbd6","datavalue":{"value":{"amount":"+0.8860249","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":"Q2086969$D35E977F-2FCD-47E6-ACD8-D5E3797B3CBF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"471a632bdaa4373a66aa9f33f800506331d4f3a2","datavalue":{"value":{"entity-type":"item","numeric-id":4974262,"id":"Q4974262"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"88907319ae36b8776eb76189c1301dc2b17a74a7","datavalue":{"value":{"amount":"+0.87822044","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2086969$BE59873F-A2B0-4E4D-8F03-4D472FE2960A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a410e22dd07cb69e776cebc4aa1f64e798ec4752","datavalue":{"value":{"entity-type":"item","numeric-id":5061647,"id":"Q5061647"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"60db85a0f9b8cc81fcd79c90362041d75093a8c3","datavalue":{"value":{"amount":"+0.8748477","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":"Q2086969$28DF10F1-F0AE-4CED-B03C-AE3120682E83","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f2cdfa7885e4d2379c95142eed7f97643eca87ce","datavalue":{"value":{"entity-type":"item","numeric-id":5471555,"id":"Q5471555"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d6fb2e615c53e141b7e8203f49aaf91c49d5580c","datavalue":{"value":{"amount":"+0.871274","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2086969$EEBCA99F-A9EC-4A3C-B533-142CFB281718","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9af2172057837411da393fc66186219d44b84618","datavalue":{"value":{"entity-type":"item","numeric-id":3526884,"id":"Q3526884"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f667372f23f69bf4b360a2a683685f83a240547b","datavalue":{"value":{"amount":"+0.8701708","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":"Q2086969$5FEF1890-C3E4-48D2-9DC2-745F21842328","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Nonlinear observability analysis of multi-robot cooperative localization","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Nonlinear_observability_analysis_of_multi-robot_cooperative_localization"}}}}}