{"entities":{"Q2161867":{"pageid":2172610,"ns":120,"title":"Item:Q2161867","lastrevid":54377891,"modified":"2026-01-26T17:40:47Z","type":"item","id":"Q2161867","labels":{"en":{"language":"en","value":"Distributed DETMs-based internal collision avoidance control for UAV formation with lumped disturbances"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7568416"}},"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":"Q2161867$37E53335-F2B7-46BF-B585-FA7D74F20C67","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"00c7025a807868ede06115b80af1ef598318a2f9","datavalue":{"value":{"text":"Distributed DETMs-based internal collision avoidance control for UAV formation with lumped disturbances","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2161867$5C083633-3340-4712-BAA7-D4379EABAB71","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"192f30b451d3f25695d078d5e6c52b6dc65bac1d","datavalue":{"value":{"entity-type":"item","numeric-id":682724,"id":"Q682724"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$A83012F7-49EA-4A6D-9C22-64145827834F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f26395b5e2efdcf7809d27a1c7ef275027f5319c","datavalue":{"value":{"entity-type":"item","numeric-id":330915,"id":"Q330915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$61FA5EF4-F53E-429F-AD66-F32F9316562C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"add6fb6b993c46c88f8cbd1c0026e2e785c9381d","datavalue":{"value":{"entity-type":"item","numeric-id":70476,"id":"Q70476"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$A785EC76-165D-4466-B8D8-04F70FA299F6","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"aab70b9a7fc406238bacf395f346662947a5f459","datavalue":{"value":{"time":"+2022-08-05T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2161867$A3596ABA-AF2C-4B19-807B-CFFC09F5C0EA","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"b682716f1e768bec1cb5959304ff23ffd397aa71","datavalue":{"value":"93Cxx","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2161867$A54E1024-6196-487E-8278-A03FF80272FB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7b96354ba7f950b6e51a6378bfaad155873663d2","datavalue":{"value":"93Bxx","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2161867$1BE116EC-D0E9-4FB4-B4FE-436CAC9EDF45","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a9a7e93e020739646b809544013391c5758191b8","datavalue":{"value":"93Dxx","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2161867$28768E4A-00CB-430D-B00F-156E98CC209C","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"693eb6e713c0319b1efae5de0d7f2e2df6b99080","datavalue":{"value":"7568416","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2161867$335CD924-03AC-4EF9-A309-F631DC5083C9","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0a7d163b7134746bf1c87a6d898a781f054355cd","datavalue":{"value":"UAV formation","type":"string"},"datatype":"string"},"type":"statement","id":"Q2161867$1E07E096-377F-4F22-AF7E-BF16B6535D83","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b0c0611d760dd6ef7e1ca5a4403f9bf03ef5c7a4","datavalue":{"value":"dynamic event-triggered mechanism","type":"string"},"datatype":"string"},"type":"statement","id":"Q2161867$C1CF2FF7-8892-4D65-B9B2-9BBCDB8B6AEB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"dcf209e14a5356af9375487fed786645da689e8f","datavalue":{"value":"composite disturbance observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q2161867$A1674C62-53C2-40AC-BB0C-3765D73B2162","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0c898462fbc61a4877b3454dfa6d4e0f5d0cedc0","datavalue":{"value":"prescribed performance control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2161867$626D33F3-2BD0-43FB-AA92-67B0D09B8C86","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$E5100146-70AF-487B-B647-20151CF8F800","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"9b9a9009751d5ada22b399918bbf980cbda8f43f","datavalue":{"value":"https://doi.org/10.1016/j.amc.2022.127362","type":"string"},"datatype":"url"},"type":"statement","id":"Q2161867$CB548E4D-65B8-4D57-AD49-52619E133E13","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"bd4d82999fbc938c06423d2ee0da34880b27e52d","datavalue":{"value":"W4285725474","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2161867$11D9C9E9-11E1-421E-A57B-4E64447E560E","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"022a678755b204cb930ec13fd506300d4568a4c4","datavalue":{"value":{"entity-type":"item","numeric-id":5282232,"id":"Q5282232"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$4C7C396A-D168-4BEA-B907-03A6DE4E994D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3bb32b96f2ad0a3821055542129f4017f20b5459","datavalue":{"value":{"entity-type":"item","numeric-id":2065173,"id":"Q2065173"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$DB824718-2A51-4E3F-842E-989B09F10900","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"aaf1582a94e2c00e1231edf11b8982abde9595f3","datavalue":{"value":{"entity-type":"item","numeric-id":2065212,"id":"Q2065212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$8E03C92F-0818-432D-BA3F-A6DA3D57CAEC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3952a94719e7415f4795ad43744d4ff358606d53","datavalue":{"value":{"entity-type":"item","numeric-id":2061226,"id":"Q2061226"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$AC651AD4-9F47-499D-BC24-3DDCE997CB25","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"277d88fdf1f7822a82cc93ac2dd5187850cf948b","datavalue":{"value":{"entity-type":"item","numeric-id":2055557,"id":"Q2055557"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$020AD06C-10DE-4D0B-B8CE-A9C2749C89BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0db111e6fd234a9cfcd4961aa7b88294bc8475b6","datavalue":{"value":{"entity-type":"item","numeric-id":2189849,"id":"Q2189849"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$457082FE-C88C-4571-A6CB-8E214EF4796C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ec8757960d84f5578c7c134ca0064238fd485d29","datavalue":{"value":{"entity-type":"item","numeric-id":2181326,"id":"Q2181326"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$D4386A8A-2206-4D2E-BC80-7B503AF85B76","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2dbd0ec84ee4cfb4da3f6c7c7f7527b0e235035","datavalue":{"value":{"entity-type":"item","numeric-id":4974342,"id":"Q4974342"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$D545CE95-2751-41DD-A0A4-104F3EBB055D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1f10ff303992f7a80ecd9dd4aeb81f0b92656818","datavalue":{"value":{"entity-type":"item","numeric-id":5868146,"id":"Q5868146"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$1146ACC7-86B8-4D68-B85F-E5984BE4E4E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3c8698c631985bd6f946b5abc88fa0881ad7ec84","datavalue":{"value":{"entity-type":"item","numeric-id":328124,"id":"Q328124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$B545D622-26D2-4628-AB72-7BEDAE00F884","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5907fc7fa1bf6bb22958485629553b19e6edb779","datavalue":{"value":{"entity-type":"item","numeric-id":2297412,"id":"Q2297412"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$764ECE6F-C469-4F74-9297-AAD6F107C9EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cc4fbbe34cca63c07ab5c2b92ee9563ebd5873c9","datavalue":{"value":{"entity-type":"item","numeric-id":2055538,"id":"Q2055538"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$FB5FABA0-7DF8-48B1-A23C-D90CB01329DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"771eabc5990ff9bd28197c2535f4a087d8840b77","datavalue":{"value":{"entity-type":"item","numeric-id":2041383,"id":"Q2041383"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2161867$AB7F3A4D-9047-4801-BF9E-1D5522AE8A65","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"541f989a32621acd34dc7e6b2235f6db638f4b64","datavalue":{"value":"10.1016/J.AMC.2022.127362","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2161867$49F2F0A4-2464-4F60-94E2-0EA563D7C2D2","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"15db3fa97d514a5d697df06763e61b83d708910d","datavalue":{"value":{"entity-type":"item","numeric-id":2181326,"id":"Q2181326"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"25b3ec8f3c91edf08144deaaa33dfb4fce01159c","datavalue":{"value":{"amount":"+0.8313248753547668","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":"Q2161867$25987B9A-D91B-4A52-AFA8-B343917FA7BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6f818240bc8d0efadd916e589ccdfc154ef3c92f","datavalue":{"value":{"entity-type":"item","numeric-id":2041383,"id":"Q2041383"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a1facbad07b08402ba636c7d94361a425f907f81","datavalue":{"value":{"amount":"+0.8303479552268982","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":"Q2161867$22AB0D4E-4CC8-4802-89AC-3F7F1A642F51","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7cf99942b5e57cd8127f231291fb69b0a3cf8e2b","datavalue":{"value":{"entity-type":"item","numeric-id":2034233,"id":"Q2034233"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1bb484115e916b5d80926b663f41980d3dc35cfc","datavalue":{"value":{"amount":"+0.7953230738639832","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":"Q2161867$52B1EFAA-C84B-444A-B8D0-97E900939802","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7200deb820f519314ec09fec70c4b581d42654f8","datavalue":{"value":{"entity-type":"item","numeric-id":3180133,"id":"Q3180133"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d9d66706d1225d5eaa322a688a2cf16b43232988","datavalue":{"value":{"amount":"+0.7904865741729736","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2161867$FC17CC71-8FC2-44D3-94AD-6E53CEE517E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4ba50b73664235443c91b9110f0dff95cb06e3fe","datavalue":{"value":{"entity-type":"item","numeric-id":3307962,"id":"Q3307962"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"699681c81959aa91ac4c1e311f9793ec1475640b","datavalue":{"value":{"amount":"+0.7900088429450989","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":"Q2161867$93319ED5-8D35-4C11-827E-3F4621A5A1E0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2161867","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2161867"}}}}}