{"entities":{"Q2327779":{"pageid":2338522,"ns":120,"title":"Item:Q2327779","lastrevid":53565230,"modified":"2026-01-25T07:47:35Z","type":"item","id":"Q2327779","labels":{"en":{"language":"en","value":"Adaptive-observer-based formation tracking of networked uncertain underactuated surface vessels with connectivity preservation and collision avoidance"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7117801"}},"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":"Q2327779$A5B6FF30-3118-47A0-AE14-090972F2BBAF","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"85572260fdc7c298ff35bd09ccbd2f88b0de62f0","datavalue":{"value":{"text":"Adaptive-observer-based formation tracking of networked uncertain underactuated surface vessels with connectivity preservation and collision avoidance","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2327779$32055C13-301F-4869-AEAE-8037B7824ABE","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"08db34d9f31ec233620a239acb920834d76711a5","datavalue":{"value":"1423.93178","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$6167ABD6-35A7-4867-B2BD-58240447ABD1","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"d73b2a2ff4e27b71a789606fc9e8433b7f625a03","datavalue":{"value":{"entity-type":"item","numeric-id":347312,"id":"Q347312"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$B974DCBB-387F-4DE6-B91F-F8260F8ABB0D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"dbfe954258a208fe277d6f08ee007cd03562af6e","datavalue":{"value":{"entity-type":"item","numeric-id":285721,"id":"Q285721"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$30AB5EA1-4A96-48B1-AF65-EAB4F85CAB86","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$D70145E2-3C1B-4698-B21A-FB003BE18BC9","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c901784005e9f05ccdecd0be478d6f2b8488ac37","datavalue":{"value":{"time":"+2019-10-16T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2327779$754C8E3D-938E-4B88-B7BA-95F6F49A9446","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$082F68AE-08A7-4A49-949F-3115B3C9D947","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"2c05236ba6c6eb01728e5ef50a3d845c0afa0da1","datavalue":{"value":"93C41","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$C93F9B41-E597-435D-AABE-171280DAAE99","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$F27A0279-587B-42C2-9569-D3B500849910","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$B71A4E63-166F-4784-AAE8-DAEE33DA396C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0ba2842931f306df7115450868bb0fb7d07d2a0c","datavalue":{"value":"93B17","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$F00B3F27-816A-48AA-B022-8FDB21E329C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$677B1E25-19E5-4E44-AC43-B9CF92AB1A9D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$3EBA6748-151C-4B93-958A-683D326BF564","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"e6e56153fcebdf600170b641726d28fe57b7624e","datavalue":{"value":"7117801","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$B3ADCE3E-F685-4239-A65E-7457420EC309","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"17ac405b5c365d1eca5c7996198693704a634deb","datavalue":{"value":"adaptive output-feedback formation tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q2327779$24F1AC55-ACF8-4297-BC84-606A9DE6036C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c0f8f906004fed2beb7cf52a0de273e044cc2b2e","datavalue":{"value":"uncertain underactuated surface vessels","type":"string"},"datatype":"string"},"type":"statement","id":"Q2327779$EBE60171-FBF7-4E34-84E7-9D60F535BB2A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6390079719a5ad8f3326563855ae353ae5e489d8","datavalue":{"value":"collision avoidance","type":"string"},"datatype":"string"},"type":"statement","id":"Q2327779$594EA1F5-F68D-4458-B81C-F0E976B95EB6","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":"Q2327779$885CBDBE-A82B-4D95-8D49-5EDB195D60F9","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"56ec3d92df3cca835e2828701df62b15a962df55","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2019.04.017","type":"string"},"datatype":"url"},"type":"statement","id":"Q2327779$936C1662-656B-454C-8F83-552014A07922","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"13e8fef12831184e083b844cd33baed3e4d7d36e","datavalue":{"value":"W2936208221","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$5A74645B-EB29-4F0B-B77A-C9CDCF4CEE6A","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1ec6c5635086603d69abd788cb73fe17de3e821a","datavalue":{"value":{"entity-type":"item","numeric-id":3057040,"id":"Q3057040"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$FAE23BCF-E682-4F93-A166-F0E4E1A4CB09","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"adffdad3c3a735e8b3a6e574fead6edc6ed60c87","datavalue":{"value":{"entity-type":"item","numeric-id":5494520,"id":"Q5494520"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$1F78E0EF-2C58-4749-909C-847587790B52","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":"Q2327779$2D4C9086-1F55-4687-A342-806226CECAF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"23b3bdf6eb4c281568de5ccbd012c1f772703514","datavalue":{"value":{"entity-type":"item","numeric-id":508359,"id":"Q508359"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$16CD161C-9371-4821-AC6A-6FC86E62CD23","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d7f5b1929cf49b71278e36f9729d1e90ae0aa9ca","datavalue":{"value":{"entity-type":"item","numeric-id":4570952,"id":"Q4570952"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$6828AD6F-919E-429D-A724-C43AA3AB2564","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fe4537e39a80ecfcd368c03caf9836964428daa3","datavalue":{"value":{"entity-type":"item","numeric-id":4974839,"id":"Q4974839"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$5A2E7606-5768-4912-8278-777E53A5D80C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6f679b83b9095b39a3321db94a3987dbcad3b404","datavalue":{"value":{"entity-type":"item","numeric-id":5353342,"id":"Q5353342"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$48FB05D3-20BA-442D-B581-9C178B4E985C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3d84d3c02494730e2804f00039e97e31a2f42d86","datavalue":{"value":{"entity-type":"item","numeric-id":2439117,"id":"Q2439117"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$C8CFE65E-166D-4DC1-BE1C-BA06D4D5E965","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de5529b4ca9020d66d1fa23c8283c0de2406e2ca","datavalue":{"value":{"entity-type":"item","numeric-id":1640275,"id":"Q1640275"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$43324A5D-F2C7-4E57-B8E0-37D727736E10","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4c8a0c279009978e3c4b5c54766b1276d0a59650","datavalue":{"value":{"entity-type":"item","numeric-id":705443,"id":"Q705443"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$043A7B95-7800-488E-80F1-1D831AE57CEC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f56f5818b32e71b602a6919b729bf3498b89663","datavalue":{"value":{"entity-type":"item","numeric-id":510151,"id":"Q510151"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$61F2623A-DC53-44E3-85BC-2626ED3019AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c215a13761182c9027bd2486d1376243353e8ea0","datavalue":{"value":{"entity-type":"item","numeric-id":1905929,"id":"Q1905929"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$2F7B07DB-3309-4D37-B052-53E88452A3C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8fc96e365d89f10b2a640bed456492f4827ca373","datavalue":{"value":{"entity-type":"item","numeric-id":4884118,"id":"Q4884118"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$09E4C13A-A834-4739-8B91-37C17125BAA6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"02461b67fae317de7c719119e84f9a077624cbde","datavalue":{"value":{"entity-type":"item","numeric-id":875966,"id":"Q875966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$A5BAA826-7891-4C94-BF1F-7E6F33DA20C8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ddffe6a748b29fcdfedbdfa5967e601f51499b94","datavalue":{"value":{"entity-type":"item","numeric-id":1835613,"id":"Q1835613"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$330D547B-38D2-4237-A519-DACE15B4DBD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b1ee091442c344c7cede13444d406374a2517007","datavalue":{"value":{"entity-type":"item","numeric-id":2730263,"id":"Q2730263"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2327779$8C116311-A8DF-467E-8DC4-E090D29DB211","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"eee96e5a9a4c50fb83a07fd6ec3dc8f730f7a6fa","datavalue":{"value":"Q128020028","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$09544594-C40B-4A8E-B6E0-4418A2C7CA3A","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"bee8c995cac8b0e395e6f11341aff1b956da172b","datavalue":{"value":"10.1016/J.JFRANKLIN.2019.04.017","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2327779$5A667CF6-56A8-40A5-80A3-F642A42C730C","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"86f0d78d559f50263ef76d36fc9d0c7e96a43d84","datavalue":{"value":{"entity-type":"item","numeric-id":2664229,"id":"Q2664229"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c5dcd9e566c946459d41b1e514cb748f578b20b7","datavalue":{"value":{"amount":"+0.8845969438552856","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":"Q2327779$333FDA22-4536-4A82-A16E-B29CDCC92CD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e9c1534090d8a3fdf30451adcc3040bbbc25d7d6","datavalue":{"value":{"entity-type":"item","numeric-id":2155736,"id":"Q2155736"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2a9ffc94fdd3f30753660b6c227e3be0c3bafe0e","datavalue":{"value":{"amount":"+0.8705154657363892","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2327779$B6BA9680-B8F5-43D7-91BD-5CF2A478CED0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6c639f33fea1c675ef4d391aa12d362cd2e69121","datavalue":{"value":{"entity-type":"item","numeric-id":4960168,"id":"Q4960168"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"54e25511be2c6f187764e51b94b9783baaef4d6b","datavalue":{"value":{"amount":"+0.8583080172538757","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":"Q2327779$9088192C-71CD-4956-B37A-D2AA253252CB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3a4299a2c604c978144f0f7960b184aeac6f5960","datavalue":{"value":{"entity-type":"item","numeric-id":2165429,"id":"Q2165429"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f24fad8072e43f3b3d67a7c010b94ba31a1daf30","datavalue":{"value":{"amount":"+0.8233137726783752","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":"Q2327779$8439EE80-AC78-433D-83A9-1A62213BC05D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f0ca97bf7619a7235dc1158b6804ad867bd51ec8","datavalue":{"value":{"entity-type":"item","numeric-id":510151,"id":"Q510151"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f6679fdf389205d0e1957ca60174eb3b4834ce08","datavalue":{"value":{"amount":"+0.8067273497581482","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":"Q2327779$833CFB51-FB85-46F4-9806-A4CE2DBED307","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2327779","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2327779"}}}}}