{"entities":{"Q2173983":{"pageid":2184726,"ns":120,"title":"Item:Q2173983","lastrevid":71468484,"modified":"2026-04-13T22:27:54Z","type":"item","id":"Q2173983","labels":{"en":{"language":"en","value":"Entrapping a target in an arbitrarily shaped orbit by a single robot using bearing measurements"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7190671"}},"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":"Q2173983$FEAEEBCC-DFF9-47BB-B919-F463FB054B56","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"9eb44972b5f6c346f9a8054f1dcca314f3ae2421","datavalue":{"value":{"text":"Entrapping a target in an arbitrarily shaped orbit by a single robot using bearing measurements","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2173983$A9D26FC5-675D-44AD-9C18-615DA51DD5D1","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"ac6fedc4dd14dd7922ac00739102def647e34f68","datavalue":{"value":"1440.93177","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2173983$704288E2-6263-4945-998D-2849B3ECD0E2","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1d063ed0b039c11349945cc3652af2a8c8ab0b6f","datavalue":{"value":{"entity-type":"item","numeric-id":2173981,"id":"Q2173981"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$5ACD9509-744C-4FDC-858B-7C589F52E5E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d51a74bb94d070c1c4f58e8ad0f5a2bc779b758e","datavalue":{"value":{"entity-type":"item","numeric-id":2173982,"id":"Q2173982"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$303E58E9-81CE-4EEA-857D-1612F80BD02E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"42aecef071412605202218231494f1b0ab23b758","datavalue":{"value":{"entity-type":"item","numeric-id":875459,"id":"Q875459"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$87822C5D-675F-4E9B-B9F0-C28258D70D71","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4a53f6ebcecfbf11adb503aa912d8d4717b6d139","datavalue":{"value":{"entity-type":"item","numeric-id":311875,"id":"Q311875"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$89229A92-E68D-42C4-A87C-93FFA4C46498","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1105af185b740d41d79d92c5201c5c6c1c78bbce","datavalue":{"value":{"entity-type":"item","numeric-id":273884,"id":"Q273884"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$E8F72C16-B74F-4D78-B435-7789DCBA8E41","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$141940F5-64FF-4FF2-8F4B-4E69C346C0FB","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"15784d321aac3bade60fa378317d3f88af56df9f","datavalue":{"value":{"time":"+2020-04-17T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2173983$7998B2F2-E853-45C1-AC05-6C2478AFAC04","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2173983$88891325-DBAB-4D17-B5AC-A8E15CA0AC14","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"260d38739dc4635c9b2e51ff8c308b17c7d611a8","datavalue":{"value":"7190671","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2173983$99CAFE0B-6395-403E-97B7-D541434E7A44","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"06a11beb74127d2c301eb0dd072c511101fa3c6e","datavalue":{"value":"mobile robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q2173983$D7ECD10C-4490-45EA-AD68-02F17ACB64B9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8456ea3fb01a62f74e03e93fde67e15e2616ccb0","datavalue":{"value":"sensor based control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2173983$2F17FE21-4421-4B22-BD26-ABA108DA2929","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7405bceb1c3ca055a06f54d4b70fc29a1b0d95ef","datavalue":{"value":"persistence of excitation","type":"string"},"datatype":"string"},"type":"statement","id":"Q2173983$8B415162-2933-405A-9F33-7657EF76D7B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ab877092217ebcf57cf10dc981faed9fded6fbe3","datavalue":{"value":"circumnavigation","type":"string"},"datatype":"string"},"type":"statement","id":"Q2173983$74A9862C-14D4-4BC5-9C7A-1B73E792F71F","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":"Q2173983$64E59817-B091-42C1-A09D-58E75653FA22","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"6d21390567c9026d6f3601739b8d84a3e008e792","datavalue":{"value":"https://doi.org/10.1016/j.automatica.2020.108805","type":"string"},"datatype":"url"},"type":"statement","id":"Q2173983$47E0F1DD-9602-4637-A16B-CC6201E730B6","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"e3333f1ec3a61f32464be89481e57521a425ab38","datavalue":{"value":"W3000176868","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2173983$4F27DB6A-0574-4317-8C93-FC6B03022195","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"2eedd840de3a4400202bbd4ee15cd8fe54e377bb","datavalue":{"value":{"entity-type":"item","numeric-id":1689362,"id":"Q1689362"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$18A82687-BF0C-429E-82D0-AC21D82612BB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c85bb56334b5e50420b6bc47f9bbc5917ffcc5be","datavalue":{"value":{"entity-type":"item","numeric-id":2518968,"id":"Q2518968"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$ACAD0339-AE7A-4E53-9190-20BAEF7CDBC0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b81ebeffa9666ee04e2c1b043aaa61b38d2b4a22","datavalue":{"value":{"entity-type":"item","numeric-id":2983079,"id":"Q2983079"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$474FB5EA-9ABF-4F72-B8F3-3CACB36BBF0C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2ba337535c871bca1a37d54f282c497cf8a44936","datavalue":{"value":{"entity-type":"item","numeric-id":5353080,"id":"Q5353080"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$0FFE527D-3C62-4907-AB5F-ED51DB0FD469","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"740fd800127050325ca5090a01ca67d05c392018","datavalue":{"value":{"entity-type":"item","numeric-id":609531,"id":"Q609531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$03025B53-E173-4D76-BA27-C0EC70E16310","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f4369d03d1a862bc9ece8578b75fc439fda9d131","datavalue":{"value":{"entity-type":"item","numeric-id":644127,"id":"Q644127"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$B9785C78-6A4A-4260-8AFB-E33E165088FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4adf98c8a04d476b342b7334a2f5e9e7cc3f135a","datavalue":{"value":{"entity-type":"item","numeric-id":2467504,"id":"Q2467504"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$FBAF432D-7380-4A11-97AB-A8C14055DF45","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6eeb21320d342882700f4bc5a23c1ab3291dfd81","datavalue":{"value":{"entity-type":"item","numeric-id":905783,"id":"Q905783"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$7644F5CC-510E-43A8-BB7F-3AE441EC42A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"88f9e3b06c2acfcdb4851511be9236983f1a3fd4","datavalue":{"value":{"entity-type":"item","numeric-id":2409322,"id":"Q2409322"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$1706C76F-705B-4A05-AC5B-4F80B30BD715","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8310385598102ba87da3188f1e6ef01262ece6b3","datavalue":{"value":{"entity-type":"item","numeric-id":5274114,"id":"Q5274114"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$E75D77F5-76D5-4A38-8B5E-336C445D2C01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"65cb00fe6224a29ebc049f71e50296e9bb22878f","datavalue":{"value":{"entity-type":"item","numeric-id":5282111,"id":"Q5282111"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$E02AF8B7-C9D9-458A-95A3-A1021F7B4F47","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"aa7347a0c70f01b07c7f8cb9d6b900f97f6b8dfc","datavalue":{"value":{"entity-type":"item","numeric-id":5352770,"id":"Q5352770"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$915AE4BD-9F5E-462A-B6F4-4F3E66464CFE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c21319590ba0e24cc453afa665fa29df59206b53","datavalue":{"value":{"entity-type":"item","numeric-id":4638006,"id":"Q4638006"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$1646C43F-AD95-4249-9B7A-50A4FBE58F24","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c2393e97e64ee18f1cafb22397a643f4447eabc","datavalue":{"value":{"entity-type":"item","numeric-id":4003793,"id":"Q4003793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$49E8D944-8FBC-4DCB-AF4B-FF6A1CF1EE85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"19b4e03a74449123d4a322161cd4abc098c1e2da","datavalue":{"value":{"entity-type":"item","numeric-id":5282115,"id":"Q5282115"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$E1E377C9-F389-4390-9AC4-99EBA58CCEDD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"124f3348d04032f297e2574ee9a4576beb07b0bc","datavalue":{"value":{"entity-type":"item","numeric-id":273915,"id":"Q273915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$66BFE8FA-8723-4EDA-AA04-7D63695481FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"92241eab8c8c5a665cf1f61e4565664198b85a8e","datavalue":{"value":{"entity-type":"item","numeric-id":1640222,"id":"Q1640222"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$660BF59A-9C1F-4FDD-AD0D-E99790AC8E7E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e75d71ca442fee9f7b2a08abc122961131de4296","datavalue":{"value":{"entity-type":"item","numeric-id":2409404,"id":"Q2409404"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$06EC6C78-BE5C-40FA-8FEC-A2AA86BB07C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e2c7f44b24e2f5f28e906a9980cc8e7e8a5b3939","datavalue":{"value":{"entity-type":"item","numeric-id":2409460,"id":"Q2409460"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$696EA49D-044A-48CC-AC1C-AAA6063CCA78","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"79e095d222ba50a2e85997fb5bcb67e79693c831","datavalue":{"value":{"entity-type":"item","numeric-id":2342562,"id":"Q2342562"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2173983$B89AAFBB-4DF9-4A55-9A4B-DF8D56324599","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"6e23de5af9415b81ae83fb3f154d2b1ea4bc3521","datavalue":{"value":"Q126379249","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2173983$E1443038-EEE8-45E6-8B8E-2FB77E4E50BF","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"ce78e77996d0876ab4ea279b5a608cadfea31c4b","datavalue":{"value":"10.1016/J.AUTOMATICA.2020.108805","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2173983$BA03821D-ADDA-4766-B0FA-D3F8D29D0ABF","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"482e12d0f2aa3b2a66f1cc3deb142492f883a472","datavalue":{"value":{"entity-type":"item","numeric-id":2409460,"id":"Q2409460"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"873978e3578c9c56e0f0757723ca577d24096604","datavalue":{"value":{"amount":"+0.8110283017158508","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":"Q2173983$B3F6FD22-E297-4534-BC05-ABDDF68436A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ad784ad03e9cac16a759d49fb7d0220b390f66bf","datavalue":{"value":{"entity-type":"item","numeric-id":3465679,"id":"Q3465679"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"785e20f3766a938d072564307a55f0a67282f365","datavalue":{"value":{"amount":"+0.7826354503631592","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":"Q2173983$733587F6-9F4E-4839-A57E-DBE9C5D7875C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"586e4dd99aa717b994f844a199f8511bae36287a","datavalue":{"value":{"entity-type":"item","numeric-id":2188265,"id":"Q2188265"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a82521930f1241404e737b6e1a0ae72992ccde75","datavalue":{"value":{"amount":"+0.7739037871360779","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":"Q2173983$947C6E8D-5729-40E5-9DA6-B484208AF12A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"83ba710efe112884e42e59167d2ffbae8dca5d59","datavalue":{"value":{"entity-type":"item","numeric-id":1987280,"id":"Q1987280"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"74959b5297cdfffaceb45c6a52d16186d7c5209c","datavalue":{"value":{"amount":"+0.7696505188941956","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2173983$DFD4219E-BEBA-4B22-B967-F96EB6B85F97","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"72c2920209d2d2ddfa496f7faf8a8467affb6afb","datavalue":{"value":{"entity-type":"item","numeric-id":6157350,"id":"Q6157350"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"944aa2eed95d753183c3450590ba69d987b01228","datavalue":{"value":{"amount":"+0.7639166116714478","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":"Q2173983$628A476B-D72B-4002-83C9-8F2008D868FB","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Entrapping a target in an arbitrarily shaped orbit by a single robot using bearing measurements","badges":[]}}}}}