{"entities":{"Q2215115":{"pageid":2225858,"ns":120,"title":"Item:Q2215115","lastrevid":53887508,"modified":"2026-01-25T21:31:14Z","type":"item","id":"Q2215115","labels":{"en":{"language":"en","value":"Velocity free leader-follower formation control for autonomous underwater vehicles with line-of-sight range and angle constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7284193"}},"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":"Q2215115$CCA6FBB7-CFA9-4BF1-BF97-E2EF9CE4D88D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"ac54697db38a9b06343a2de42f1fbdacc002573b","datavalue":{"value":{"text":"Velocity free leader-follower formation control for autonomous underwater vehicles with line-of-sight range and angle constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2215115$8DB4C230-3CDE-492E-A550-DC2BBFA9A225","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"aee22d581b272e9051e0b69b6576b076db7c640c","datavalue":{"value":"1454.93005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2215115$03C31455-9123-479D-887D-BCB06272BE84","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"dafb8c2fef12bf36dfd63ee19b9a79d6e3509eff","datavalue":{"value":{"entity-type":"item","numeric-id":351184,"id":"Q351184"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$47AA6C1B-5554-4BB6-A06C-879FC5291427","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"04c7ba174e0d0fab35b0aa94d55f520fb7a7f37c","datavalue":{"value":{"entity-type":"item","numeric-id":940227,"id":"Q940227"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$B8487982-626B-4C1A-917A-1CABB649B76E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"c144f0fb88440afe4b13555aedcc8676a016b6d2","datavalue":{"value":{"entity-type":"item","numeric-id":70466,"id":"Q70466"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$EEFB9D9B-645C-4A7A-A335-BBC31421A71C","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"97b59c99be360aa141a468ba100909fcbfbe314c","datavalue":{"value":{"time":"+2020-12-10T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2215115$9B250519-3E03-4B4D-B469-6FB5A07FF0D9","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a1d1ec306e6072f89861e74f12dba9e600d6764c","datavalue":{"value":"93A13","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2215115$35F43DBF-7DAE-4D0D-84C7-AADE27820C6F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2215115$8A6B008A-B563-4972-80F7-9C5FDA743A30","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"e73cf255ed3384a43de485d54cf5567671f1ec16","datavalue":{"value":"7284193","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2215115$72DC6810-B343-4112-8E1E-2AE7A43367BD","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"12784d21e129f563149239cd83a835bc1b458510","datavalue":{"value":"autonomous underwater vehicles","type":"string"},"datatype":"string"},"type":"statement","id":"Q2215115$3C4151A1-E275-46C8-970E-9BE7653CDED0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9a65dade00f13fa27a18530b615cf4b975c18ec0","datavalue":{"value":"formation control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2215115$36A663A6-0274-459A-80CB-2E969F4D9C11","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a53f957bc6590489b11e7d3ce1eaed2a2424b0e1","datavalue":{"value":"system constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q2215115$A486BD61-9233-4AD1-B989-C6E513E173A5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bcf4c6a014545cbca73ffaa310c1105e96963074","datavalue":{"value":"command filter","type":"string"},"datatype":"string"},"type":"statement","id":"Q2215115$08A4BC1D-6FB1-4BF9-9ACF-F3058F278657","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4d1a17a16aaafcafeb1ba7381e356ae9ee0647b4","datavalue":{"value":"velocity observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q2215115$596AD507-EE6D-491A-812E-FFA183CC324B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7fc2a619ecd05214e782778a7752125b9b386d1d","datavalue":{"value":"barrier Lyapunov function (BLF)","type":"string"},"datatype":"string"},"type":"statement","id":"Q2215115$5DC8511B-6663-4646-9F84-AE8A8F323A09","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$C2466C19-E648-4B44-9993-B2187C358F28","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"5ead3026059042940c905368ef1c319ed5607a7d","datavalue":{"value":"https://doi.org/10.1016/j.ins.2019.02.050","type":"string"},"datatype":"url"},"type":"statement","id":"Q2215115$54F151AF-7531-4697-996A-302910F12343","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"1d1a01dd5cdb614cfa12529a4badecf8841d2b79","datavalue":{"value":"W2915315059","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2215115$873E2DAC-9A43-4BD7-B0C9-1981EF11398D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"9cc79a3506d995bcd99893b579f9f30ccb4d2bb7","datavalue":{"value":{"entity-type":"item","numeric-id":856499,"id":"Q856499"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$562879D8-F9D3-4442-8613-5C371544A6AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"389bbda327f1caf7c5fb53e5764563266b8d3bb2","datavalue":{"value":{"entity-type":"item","numeric-id":4974624,"id":"Q4974624"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$FE67C1FE-01E6-44D6-ABC4-38B80E671174","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ed16dc76348d136fb6e532198e7fc2f85d66df34","datavalue":{"value":{"entity-type":"item","numeric-id":5281845,"id":"Q5281845"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$780C474C-3EB7-42EE-A1D0-0D87EA617E22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"167cea3a84d4c78ba8343ce43c15d95d62e16981","datavalue":{"value":{"entity-type":"item","numeric-id":273959,"id":"Q273959"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$189A6AE1-1056-4208-89C9-498E5555E67B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"32ba317e24a276fdf11db74fe7018742f9b87fc0","datavalue":{"value":{"entity-type":"item","numeric-id":2519001,"id":"Q2519001"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$D45C631E-A87C-4BB4-9923-13315064D89E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d9cb47bf34e88bdbd16dde2e2cfd5d2099c7dbc7","datavalue":{"value":{"entity-type":"item","numeric-id":1749829,"id":"Q1749829"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$803F3DB2-14F2-4617-BDC0-02C539B240EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7b1aa92a66653c4d8780be625ae1ced10efbcc67","datavalue":{"value":{"entity-type":"item","numeric-id":1915011,"id":"Q1915011"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$38FCD1B3-8FF5-400D-B2E8-E95030303924","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"be71ae5c771a59ba228486289baa71672a3027fa","datavalue":{"value":{"entity-type":"item","numeric-id":646457,"id":"Q646457"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$F96B8289-0310-420A-9985-5F01A7875F09","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"25a03f523c1931f8fb0aa56e6ffc6f05e6c508a8","datavalue":{"value":{"entity-type":"item","numeric-id":2350837,"id":"Q2350837"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2215115$02909070-FC2C-4601-82F8-80294590B836","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"fe7256980042e404616f98f99eb28b458589443a","datavalue":{"value":"10.1016/J.INS.2019.02.050","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2215115$9E62D011-8D25-4669-A741-B28B31F2591E","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"42b759a9972590ff7f7670615211810cc60ff317","datavalue":{"value":{"entity-type":"item","numeric-id":2165409,"id":"Q2165409"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"937b83052abb677fb192b985d5325186860484c8","datavalue":{"value":{"amount":"+0.8790186643600464","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2215115$BAB78851-B230-4A2A-B9FB-718314F4DA88","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"85a3ffbfa0e8cefbe83ff0dc87996f87a4db2cc9","datavalue":{"value":{"entity-type":"item","numeric-id":4614953,"id":"Q4614953"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a15fe423cde67dbc27bb507ba0eeb9048ae3cfe2","datavalue":{"value":{"amount":"+0.8510184288024902","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":"Q2215115$EAA7A384-1251-4A03-BDC4-33DEBA5545FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b5b8e813cca5cd9adfb017bed9209070651dcbc7","datavalue":{"value":{"entity-type":"item","numeric-id":273959,"id":"Q273959"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eec5b348278c9a21f4a5381aa83be8076af1a1cf","datavalue":{"value":{"amount":"+0.8268889784812927","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":"Q2215115$0497825C-1B3D-48AB-A89B-943A8D8523CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"635b76560f4c8513943bfd6a9cec6926024801c9","datavalue":{"value":{"entity-type":"item","numeric-id":5150037,"id":"Q5150037"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d976823d64a012c25873ad74b70e566b0b44c46b","datavalue":{"value":{"amount":"+0.8070926070213318","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2215115$C8A97C8D-75AE-4D22-AB52-8D6F81BF5967","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"54145e9ae62e87bdd5d58dded5950d62cd7b4e20","datavalue":{"value":{"entity-type":"item","numeric-id":2656873,"id":"Q2656873"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c98c7ec8aee6d4609297994a2526b05d0fc6603c","datavalue":{"value":{"amount":"+0.8046185374259949","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":"Q2215115$C07B524D-AC2F-4B83-8A6F-5F3AF86E5DC6","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2215115","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2215115"}}}}}