{"entities":{"Q2086984":{"pageid":2097726,"ns":120,"title":"Item:Q2086984","lastrevid":71301975,"modified":"2026-04-13T21:18:55Z","type":"item","id":"Q2086984","labels":{"en":{"language":"en","value":"A new geometric trajectory tracking controller for the unicycle mobile robot"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7607830"}},"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":"Q2086984$1D2A12D1-25C9-4CA6-A7DB-60FFDB0C964D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"5aa8af8c71abff2643f1709a6ec861cd1a8dfd34","datavalue":{"value":{"text":"A new geometric trajectory tracking controller for the unicycle mobile robot","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2086984$446235B6-9301-4BF9-9032-67652BF1DF55","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"3882fe40cf6d082c1fd6cf8bdb4e2df163ce5de9","datavalue":{"value":"1501.93035","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086984$3459DE92-EB1C-43AA-BFC0-C26403837AF3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"ba01054d53a9fd8403adb22687c85537cc195378","datavalue":{"value":{"entity-type":"item","numeric-id":1993107,"id":"Q1993107"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$7FDE21FA-F059-4629-9080-F453FDB31ADF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8db3e9f553f8b1e6e0b5a696c330776c4325feca","datavalue":{"value":{"entity-type":"item","numeric-id":389802,"id":"Q389802"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$E115BB4B-3941-48B0-B5EB-0D0645A561FB","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":"Q2086984$75670029-BE92-402C-9914-6DABB7EB0816","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":"Q2086984$441B98EB-ABB2-46FC-AA0A-A8F853D1A7B6","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"216a608e3fa79d664fb5f28a72edf15852141160","datavalue":{"value":"93B27","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086984$B150EC5E-5F70-400D-A6E1-9FED34772D3B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086984$BF9D3BFD-4FA5-4E96-A16A-1B6D6404BCBB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7ae0a986d607d9b0c7df46eb597d9aa7ca19fc1f","datavalue":{"value":"93D20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086984$A259A13F-2905-4BB0-8DAA-5DD07FA32D14","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"ab27f9a55414cffb5f0ab17bdf30af37f2e76491","datavalue":{"value":"7607830","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086984$975B91E3-FAF8-4560-8DA6-23360D67C2E0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"98dee607964b8804c7bcc4dbb9a2c3af75767a7c","datavalue":{"value":"non-holonomic systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2086984$CCF5FB4F-3A2C-4E7C-A3C4-FB4797DA3315","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0ff0dbe179137cd876c98fb613040b625d8ac30d","datavalue":{"value":"trajectory tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q2086984$2684AA81-A867-47A6-A171-E700794CCC6F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1eb48840a735a0b1fa93e9bc7c754890c053b024","datavalue":{"value":"geometric control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2086984$36026963-6526-4364-B122-34DFD2E0805D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a34361c067cec52029375a52788791da4c34db47","datavalue":{"value":"unicycle robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q2086984$8D772B0F-1120-4DB1-8749-5DFBAED54750","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"338ca446442efb530f2e25aab3ed31d5097ea7e7","datavalue":{"value":"Lyapunov theory","type":"string"},"datatype":"string"},"type":"statement","id":"Q2086984$1A22CC69-0277-4B11-B11F-71F6D1C601B3","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":"Q2086984$53C97F3D-9449-469A-A2A9-B09C4096E20A","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"ed167a4a2fbc8a76b833743e52dcb8672d06a361","datavalue":{"value":"Q114129595","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086984$D740610C-DEE9-46AE-A076-0C70AD4DD2CA","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2eb75a9da9642325d72919583b8407b9ed687b73","datavalue":{"value":"https://doi.org/10.1016/j.sysconle.2022.105360","type":"string"},"datatype":"url"},"type":"statement","id":"Q2086984$4568F279-643C-48A6-A92B-8913580D9CF1","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f32cea493cde61f31504ef013582d6e4ccddeb6f","datavalue":{"value":"W4293662143","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086984$A0C408F7-76C5-496F-87AF-E14B0635A1AF","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$6D62378A-D502-43E9-B2DB-1D2F6E283922","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"898c5d047d87679a4d8fc34f2a2712c485ef6d21","datavalue":{"value":{"entity-type":"item","numeric-id":5958830,"id":"Q5958830"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$F8462C85-27AB-448F-87F9-6482BBC4A525","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1aee69c0e4a5b2ec1fdf9ebffade488964e61718","datavalue":{"value":{"entity-type":"item","numeric-id":5939337,"id":"Q5939337"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$C7DA9B82-B448-439E-8C1D-4728533E4E17","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"56dc898c005e7b0ab49ade8a17af36d3392a7064","datavalue":{"value":{"entity-type":"item","numeric-id":5281750,"id":"Q5281750"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$F65D51B8-D62F-414D-84CC-13DB4BA419BB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"10bae07e50340fa92bafbe3f44145a255d2b9cad","datavalue":{"value":{"entity-type":"item","numeric-id":1184277,"id":"Q1184277"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$5ECD17AD-678A-402A-B835-B80747A934CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c8dbb7ef872bd12737d5a5fe5946c6e8026fc5b1","datavalue":{"value":{"entity-type":"item","numeric-id":4763763,"id":"Q4763763"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$AD4659E9-35D4-4665-8ED0-AE45E8C2C4D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"07ff9ef3aab76c57c6f789f2bdc6a22992a4af6d","datavalue":{"value":{"entity-type":"item","numeric-id":1367203,"id":"Q1367203"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$E19AEBDA-786A-44EB-AA5D-718B04C548B9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2df888aebd318ae3c384b5a6d5c097f5ee3fa66a","datavalue":{"value":{"entity-type":"item","numeric-id":3034906,"id":"Q3034906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$BED2E01A-7712-45A9-99B5-A91D85BDD32B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"49c1e32ba867de13b3eec4a083dc35b009130ae0","datavalue":{"value":{"entity-type":"item","numeric-id":5375737,"id":"Q5375737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$73B5D90A-7055-48C5-BA7F-CCAC972D534B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3899315c1535abae6549dc621a151c2a6acb921e","datavalue":{"value":{"entity-type":"item","numeric-id":490824,"id":"Q490824"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$322558CB-8065-4FEF-A5F1-B07BF7A6E269","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dd3a933340e6af961377d90ff52f9e33d1490058","datavalue":{"value":{"entity-type":"item","numeric-id":5742510,"id":"Q5742510"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$CA128800-EA14-4C29-B524-1491F8EFEAE7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"94fffe7531aab34041d5b5467bb91a3841ffd34b","datavalue":{"value":{"entity-type":"item","numeric-id":2296186,"id":"Q2296186"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$30F00450-076A-47B3-90A9-538434F9E36D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d08823146b2afec8b6c7d1dc73ad22a183107fc8","datavalue":{"value":{"entity-type":"item","numeric-id":6060457,"id":"Q6060457"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$5E8EE7D2-328B-413F-B40B-83BE5BA12B17","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2aefad694e590bddeb6024636e61c822a4fe9e5d","datavalue":{"value":{"entity-type":"item","numeric-id":3454395,"id":"Q3454395"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$787E2FB8-9FEA-4A87-8BEF-6F5FA7F4B75A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5da5502f9e8f70317e188e4aa3425261e5f28aa8","datavalue":{"value":{"entity-type":"item","numeric-id":1917976,"id":"Q1917976"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$D1E7A989-AF8D-4EA0-A27B-F219EAC2138A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ab9f798d824b79152735e0e21bb7c902dcdd71a1","datavalue":{"value":{"entity-type":"item","numeric-id":4249020,"id":"Q4249020"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$C5102DA5-8A7C-4E36-9034-0BED4FC55FAB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7d1b8ca7cc2b1ac19bd59685961c2170a3a795ac","datavalue":{"value":{"entity-type":"item","numeric-id":3416994,"id":"Q3416994"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$26872BE6-D108-4A3C-8266-F0BF7FBB4C95","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a99b9d162d7638c71aa2fc7a63761c05952d6c1f","datavalue":{"value":{"entity-type":"item","numeric-id":2982578,"id":"Q2982578"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$9BD9F24E-1F07-4ECD-AE55-ACD7EC043AC5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"283aff2345e2c4a0f199d5d2bbeb88a0bcfd50d4","datavalue":{"value":{"entity-type":"item","numeric-id":526986,"id":"Q526986"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$ABBE218A-5B85-44C1-A45E-9137F78697C8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cbc67c4c637e971ca4e9f71f53b6f9b8bcebd4a7","datavalue":{"value":{"entity-type":"item","numeric-id":5940853,"id":"Q5940853"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$C8DA3825-70F7-4CC0-8FB2-1D5CA83F79DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f685f1210fe41f821323f67fac011a1c7f931b7f","datavalue":{"value":{"entity-type":"item","numeric-id":5266886,"id":"Q5266886"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$BD285C32-BA3D-441A-91A6-F3E630B7B8CC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4a2c2e7dfc35a42b7e311aa079f4b5ea6d11661f","datavalue":{"value":{"entity-type":"item","numeric-id":4306478,"id":"Q4306478"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$5EBEE3AE-9B09-41F1-8B88-3371862CD534","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ea8be0ac45170f6614069c528217a93b0c95730f","datavalue":{"value":{"entity-type":"item","numeric-id":1354868,"id":"Q1354868"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2086984$2ADFE879-FE0A-484B-BF96-11F88E6D85A8","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"43ac5100cf015d3dd8e8802086d7ea16ad50a124","datavalue":{"value":"10.1016/J.SYSCONLE.2022.105360","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2086984$E2CF76F0-F151-4557-92AE-F2EAA4210832","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9b390f8ef7d559b74c022f72c0d60bba306195e2","datavalue":{"value":{"entity-type":"item","numeric-id":3434394,"id":"Q3434394"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3440d79896c8bc01d757ffa7bfa73f29905c0c9f","datavalue":{"value":{"amount":"+0.82210773229599","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":"Q2086984$4C6DEAC2-0DB4-45C1-AB7E-CC9881E2AC95","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fdf949edf7e2f3ac2db2cb504f37c8fafa7e995e","datavalue":{"value":{"entity-type":"item","numeric-id":4681998,"id":"Q4681998"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1e40a85590a2314218a04c6e11392e74cdb1a45e","datavalue":{"value":{"amount":"+0.8154594898223877","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":"Q2086984$43662D20-2D49-426C-AE9E-CF7727DA2EB7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f26dcffe6494671c8d3f021dda658515db73c4d7","datavalue":{"value":{"entity-type":"item","numeric-id":3572735,"id":"Q3572735"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"753c02c064fbebdad46e1c0093e00f54bbad23f2","datavalue":{"value":{"amount":"+0.8105629086494446","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":"Q2086984$2B88B194-2B57-409B-8531-28EDCB4D6859","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1ea060265cbb1b7f067113b18d53ef5d1272cde7","datavalue":{"value":{"entity-type":"item","numeric-id":5498393,"id":"Q5498393"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"11064764bf4b22ca4ec512d1f28fe564de984f57","datavalue":{"value":{"amount":"+0.8086652159690857","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":"Q2086984$596B5EA1-464F-4905-97AE-6BCC271B2B99","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"443fd09793aea3e3dbea69f8747e2d5b9cbdf442","datavalue":{"value":{"entity-type":"item","numeric-id":1817710,"id":"Q1817710"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4ce5ef7864e99953798e32bca6161b82d986fa09","datavalue":{"value":{"amount":"+0.8058233857154846","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2086984$F330B0C3-8C14-4105-A363-984AEA3A835E","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A new geometric trajectory tracking controller for the unicycle mobile robot","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/A_new_geometric_trajectory_tracking_controller_for_the_unicycle_mobile_robot"}}}}}