{"entities":{"Q2159967":{"pageid":2170710,"ns":120,"title":"Item:Q2159967","lastrevid":43620984,"modified":"2025-10-31T10:15:03Z","type":"item","id":"Q2159967","labels":{"en":{"language":"en","value":"Probabilistic constraint tightening techniques for trajectory planning with predictive control"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7566310"}},"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":"Q2159967$016D55E9-929E-465A-B7C4-D7CAAB5C4525","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"9943663742a629e26a49200cdef54df5c6299cab","datavalue":{"value":{"text":"Probabilistic constraint tightening techniques for trajectory planning with predictive control","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2159967$9567F221-46B7-41C8-818B-3342799C1873","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"d7f8f70cc21308645e829c9bdc3a9ff3d0620f4a","datavalue":{"value":{"entity-type":"item","numeric-id":2159966,"id":"Q2159966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$BEA79411-8580-4ADE-8BB7-484385C001FB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4eabb5f91c96deaadcc33b93cc3b89a433eab4f3","datavalue":{"value":{"entity-type":"item","numeric-id":279372,"id":"Q279372"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$CB4FA9C3-6C21-425B-B271-7FCDAED3A8C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8a2d231aad08c1cd6c084f88685b860d837e9137","datavalue":{"value":{"entity-type":"item","numeric-id":1738533,"id":"Q1738533"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$EEC97FEF-BF96-45F0-AD21-A3B12DA5C7FB","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$577FBDCC-60FE-4A05-8E1E-E7B9E48AEF6D","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"ad9afbe138412ffaaaf6109d22a748c988081a7b","datavalue":{"value":{"time":"+2022-08-02T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2159967$726AE9E0-4F8D-44B0-B49B-14535A230625","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"0d5eef6e848157326ce3189563feefa6213bff81","datavalue":{"value":"93-XX","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159967$37BFCACA-AD6B-419E-A8E4-4BCA034454BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"53aeb1fcbd2f0d31715f68f8c0d9430ea394bc21","datavalue":{"value":"94-XX","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159967$E2530676-4B0C-4494-AA0F-B550FD7A206D","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"445d6cf0bda30e0c585b46974cf7484e756c9872","datavalue":{"value":"7566310","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159967$03A94146-AA96-48C1-A7EA-2FF4D558D3D9","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"7e91f6e0afc8d075df73c7a359afd21a09bbdda0","datavalue":{"value":{"entity-type":"item","numeric-id":16970,"id":"Q16970"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$F5CE004E-30C1-4D1C-9519-6AC5E948F20A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1463","hash":"31da21f4c59c434a7726a53620fd28c98fa308cc","datavalue":{"value":{"entity-type":"item","numeric-id":18548,"id":"Q18548"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$C4244EDA-90D5-400D-9666-B66B4FE91BB5","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$CF96AAFB-F6FB-45DA-AB99-B841E26F854B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"8fa33e39d4cbb7163f7138a26efe5cb04e228ad9","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2022.06.005","type":"string"},"datatype":"url"},"type":"statement","id":"Q2159967$FAD51B59-0DF3-4CB3-8A59-D430524DE6C8","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"2bab09121b1202aedd7e980b03559504ed7f3308","datavalue":{"value":"W4283074148","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159967$BE20BF6E-6D87-418F-8E8A-9C6F48F867D0","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"3f8afb98474802aa81f230580072dbd0aa89b06c","datavalue":{"value":{"entity-type":"item","numeric-id":614803,"id":"Q614803"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$48D591EC-8F17-48A1-9439-AD72544E2C85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59745e7586a53fbe623e28f63e432872af8357e8","datavalue":{"value":{"entity-type":"item","numeric-id":3384432,"id":"Q3384432"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$949089B8-DE04-470D-83AA-5E62E2D38EA7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4bd53d6e9478c4bb1c7a40fd9e4a8dadfd6988d8","datavalue":{"value":{"entity-type":"item","numeric-id":4197624,"id":"Q4197624"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$D9CB2400-EEC5-488A-B4A9-77312F9E4B22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c9204df5115bc2238f3e790a23bb056047b3d757","datavalue":{"value":{"entity-type":"item","numeric-id":5488463,"id":"Q5488463"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$EA1C0B60-2E5B-48EF-A9FA-594B621429FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f221ab3db84cb948d26992a8f1b9b49d7e09cb10","datavalue":{"value":{"entity-type":"item","numeric-id":4370743,"id":"Q4370743"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$9FF97B6B-6941-4D8C-BC8D-41040D197D35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bf1bd68ad6daa1671b836122f6b032791bfe4b1b","datavalue":{"value":{"entity-type":"item","numeric-id":5358603,"id":"Q5358603"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$82EBF208-00BF-4C53-8C78-32AA76D9BC11","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c6912ab06a78537ca7120e5687bc1f513148a242","datavalue":{"value":{"entity-type":"item","numeric-id":892968,"id":"Q892968"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$5135EA9B-CAAE-40F9-AAEF-936A5005A30E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9866ed4c54c4b51411f60f8a3ad5c1d8e0217bcb","datavalue":{"value":{"entity-type":"item","numeric-id":1741124,"id":"Q1741124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$E13B0AA4-B13E-4E05-A344-6EA62A2C8BC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"719f1392412f0e9523ef9afc4fdfbe27fc4263fe","datavalue":{"value":{"entity-type":"item","numeric-id":2490321,"id":"Q2490321"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159967$FD10CDBC-D275-406D-803D-A4697725F571","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"56dc218d3e62521ad3c00d61847475bc79bb48e2","datavalue":{"value":"10.1016/J.JFRANKLIN.2022.06.005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159967$33A0EDF7-A59B-49A5-A69C-63B4F5670748","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"37609d0fe1d73732ec6afb9aa07292ad9462a461","datavalue":{"value":{"entity-type":"item","numeric-id":6137504,"id":"Q6137504"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e5937a02eca63158fc2470d6bd855fccacc90a06","datavalue":{"value":{"amount":"+0.88237816","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2159967$B711C3A2-36E5-4317-949A-7FC8FBBD8D90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"da7d72e67ee57dacda983812924c4c35ef40f085","datavalue":{"value":{"entity-type":"item","numeric-id":1614361,"id":"Q1614361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"037a98f1b7f1af889c007fd034ac808cd7268195","datavalue":{"value":{"amount":"+0.8791796","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":"Q2159967$FCC09BFD-DB60-40C2-A44B-74BA7C2C544A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"63d4da49603cfd4f32a44eb98ff004c0c2f7daba","datavalue":{"value":{"entity-type":"item","numeric-id":4651174,"id":"Q4651174"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1d4b3aa94482f6efff104dc7f36b53cbca55579c","datavalue":{"value":{"amount":"+0.87917143","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2159967$F923C379-97A7-4E9C-A7AA-0BC8DFCDAF90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e0deef6e10d7c36c5b90bb979cda89332c9095ae","datavalue":{"value":{"entity-type":"item","numeric-id":4718983,"id":"Q4718983"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"03985a379018c7ec3b5f12a0c66285f878b48d8a","datavalue":{"value":{"amount":"+0.87275875","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":"Q2159967$0BD6B7BB-6F43-4AB4-A1C2-BCF88EAAEA80","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"17452349eb4e38f6f1d243b39a93815701c51fdf","datavalue":{"value":{"entity-type":"item","numeric-id":3985366,"id":"Q3985366"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cdb5ebbd831837615326ce91607b63c32d0810a5","datavalue":{"value":{"amount":"+0.8713011","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":"Q2159967$9C7E610D-8C87-422F-82C9-321DCC4781C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6435238bee419cfae94b7b5328d2a05283e35bdc","datavalue":{"value":{"entity-type":"item","numeric-id":4562786,"id":"Q4562786"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"338e871fa9a18a5069f23e899cc55e3a0f49dc34","datavalue":{"value":{"amount":"+0.8708661","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2159967$E496E737-559F-4FA6-8A2F-1A11E03BA16F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"660bcbfc44bb1b3a526cb30ec9d6e50f682ab8a6","datavalue":{"value":{"entity-type":"item","numeric-id":2735974,"id":"Q2735974"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7a436f17f24694fcab5c490ad1dd0632d9a163d1","datavalue":{"value":{"amount":"+0.87029743","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":"Q2159967$26F37C69-8EA7-4DC9-B2BB-BA7517FA5FF9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b483ffb69e41d5dd795fca1eac7e27ed77148b38","datavalue":{"value":{"entity-type":"item","numeric-id":1716435,"id":"Q1716435"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3ff45850e33667816805f83da8de74911f6f20b9","datavalue":{"value":{"amount":"+0.86866707","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":"Q2159967$2EC5C826-5E78-45B6-B5C1-7CB5A0DF09E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f39deadfc10b9eecddeda574c1fddde8d5619fda","datavalue":{"value":{"entity-type":"item","numeric-id":5358603,"id":"Q5358603"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6f716d316593f68339e1d65d538b0c216c99056b","datavalue":{"value":{"amount":"+0.8681743","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":"Q2159967$294DAB45-AB67-4617-A6A9-88A9F37CC58C","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2159967","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2159967"}}}}}