{"entities":{"Q2820458":{"pageid":2831196,"ns":120,"title":"Item:Q2820458","lastrevid":52623806,"modified":"2026-01-23T03:22:08Z","type":"item","id":"Q2820458","labels":{"en":{"language":"en","value":"Finite-time formation tracking control for multiple vehicles: a motion planning approach"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6627795"}},"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":"Q2820458$C51E1B0F-5CA8-4C24-A7D1-3B9DDEEACDCE","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"4bc86cc58aa6343d869a2072adc5fbbe8140065a","datavalue":{"value":"1346.93028","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2820458$B16C26DD-008D-4CFC-A489-2D08C513F100","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"7206e68aac93a61339b2d657d3b90fc27715fd8b","datavalue":{"value":{"entity-type":"item","numeric-id":888810,"id":"Q888810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$03A36F8F-1AF7-427D-8750-54840AEC48EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d57d0edce02805bc9132e8ab46eb208c997f4c70","datavalue":{"value":{"entity-type":"item","numeric-id":282194,"id":"Q282194"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$325510D7-B5BD-4A0B-9B58-F0E75CA5FD90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"50b5d51b16d5a4fd742ecf7d2a03e0d54773e8ae","datavalue":{"value":{"entity-type":"item","numeric-id":1673041,"id":"Q1673041"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$1192B3C9-82B7-4DB6-9D00-0E95399EA2C8","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"50b8674a675fb6cb1ce5f58b071e4afdb153e2c6","datavalue":{"value":{"entity-type":"item","numeric-id":2710025,"id":"Q2710025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$F0300DDA-75DB-43D5-942A-07FA718F970E","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"4b754de66362aae284dabb1b78cfda06e1f60d64","datavalue":{"value":{"time":"+2016-09-16T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2820458$7B0A4992-3A3A-4530-B4D8-01313745A00D","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2820458$546B4F8C-7870-4177-B165-EE02516A4992","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2820458$E4910DD9-6993-4B94-A90F-D2BAEEB05756","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"18d3ff98a6b36ff583aa8db8acc5f9669058d6c6","datavalue":{"value":"49K15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2820458$54A4B8A2-7203-4B0B-96A6-66C66D9402D9","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f7b6653e2ae83cfa979836b90f00d12d1b015354","datavalue":{"value":"6627795","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2820458$E9B9FA6D-64D1-4A8C-BB30-59CD5715CEA7","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b30751864def04106768619608f9d8994c54809e","datavalue":{"value":"finite-time","type":"string"},"datatype":"string"},"type":"statement","id":"Q2820458$EED618F3-CF69-444A-A921-332BB5D13BD1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2820458$1016B44F-87AF-47AD-9979-07674FA88BF8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a9524e213569f318046735953286f0f42d3f138e","datavalue":{"value":"formation tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q2820458$4628AF8B-C312-42EF-B92A-09D4A5DA7071","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f86cd06a419d31e4ce13611ac75d7e887c436747","datavalue":{"value":"Lie group","type":"string"},"datatype":"string"},"type":"statement","id":"Q2820458$8CF58375-B8AC-45A8-A173-4EA6BB5F7134","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$B8B2F12D-DF0D-46F9-A56E-DD543BDDB023","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"344f1785ed72dcfe69d12cd79c44b8c8e95fac09","datavalue":{"value":"https://doi.org/10.1002/rnc.3496","type":"string"},"datatype":"url"},"type":"statement","id":"Q2820458$56541CCA-482D-4ABF-94E3-C84547D0F9A2","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a5591b743a0b0696067b3bbca33ef7f91081af31","datavalue":{"value":"W2298649531","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2820458$C1D99935-4F61-4B80-975A-02542758D9A5","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"a3492cd4d9c07df056448010d5c180423bc33bf0","datavalue":{"value":{"entity-type":"item","numeric-id":466280,"id":"Q466280"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$702AAEB0-8587-435B-BB80-0CA0C8D8127E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d7bc2bca3b48fdc81c7d447431ef2ed7b068881","datavalue":{"value":{"entity-type":"item","numeric-id":3791045,"id":"Q3791045"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$7E7DD8E1-6A02-4726-BF76-07C79E9B44F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0dabcbe2d05d4d3e0ac1c6a32cb2f1f3df20b037","datavalue":{"value":{"entity-type":"item","numeric-id":3986170,"id":"Q3986170"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$A5EDA741-5C65-447D-A964-0C2CC2AC37E3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"296441ca3d638ddf37912fcd8f546db9c6f176c2","datavalue":{"value":{"entity-type":"item","numeric-id":3494995,"id":"Q3494995"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$C88EB54B-7830-443F-B95A-8D2703AC01AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ee25d24a580c45c66818393c8b6832e7afd2923f","datavalue":{"value":{"entity-type":"item","numeric-id":1606511,"id":"Q1606511"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$3DBBE357-01B7-4714-9762-D46282ECA74F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"109bfdd557f7a0396e4e65e9214224407320f812","datavalue":{"value":{"entity-type":"item","numeric-id":5940887,"id":"Q5940887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$8BB21048-C07C-47F4-AE5F-F637904C9DA3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"74d41efee8591fa34a6a624cf5a170f222beda36","datavalue":{"value":{"entity-type":"item","numeric-id":3614737,"id":"Q3614737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$9F35C8A2-F1AB-4117-BD70-9924BAC62929","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bd5aa476f3792e3acdd7ca0e27b1c0cc2f1c9d65","datavalue":{"value":{"entity-type":"item","numeric-id":1933433,"id":"Q1933433"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$C1D73150-20D5-4A8C-B5AA-C429340079B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"751e1951f8c7d0ed27d97e4499062ca6663daa1e","datavalue":{"value":{"entity-type":"item","numeric-id":4974805,"id":"Q4974805"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$3B369500-75F7-434A-BD6C-C05B10E59215","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3e7f1b0c8c59b0b0f0fa3750ea58e269d341a452","datavalue":{"value":{"entity-type":"item","numeric-id":5347904,"id":"Q5347904"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$19854C42-12B1-4E46-BF63-5D6311158B47","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cae845b3a75be41a89fdb9cf48a421841a15b3cf","datavalue":{"value":{"entity-type":"item","numeric-id":888811,"id":"Q888811"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$87B3E361-DAD3-42FD-A9A2-D8ABF7F77514","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"263e9d81eee5e6974064c2c3cce9cb13c8802635","datavalue":{"value":{"entity-type":"item","numeric-id":1949136,"id":"Q1949136"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$17A3D765-B44A-4649-8656-B3240EF8D2D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"12b715f888486aedba0746d8ab6fd92a9d96c155","datavalue":{"value":{"entity-type":"item","numeric-id":2846158,"id":"Q2846158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$FF05B3DD-9A43-4935-8E2D-52C346A04888","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3b31167212562a71cc7024f7ea22bf4f8e0a5e8f","datavalue":{"value":{"entity-type":"item","numeric-id":3458634,"id":"Q3458634"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$54BF02A6-BBBB-479E-9FE7-6E4185A78454","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2f7ffbbc19cca74ed745aca08279ce0846660172","datavalue":{"value":{"entity-type":"item","numeric-id":2980626,"id":"Q2980626"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$FED4E64E-175D-4EB5-B8F6-15E837CBE71F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f2e1e2254ffe4c1532150f543afb6e992793e2a4","datavalue":{"value":{"entity-type":"item","numeric-id":4309238,"id":"Q4309238"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$BCBAE478-5378-4482-9642-713BDACF5B12","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"53da7240162e30898dc78d1949ed9a4f007cecf0","datavalue":{"value":{"entity-type":"item","numeric-id":1295104,"id":"Q1295104"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$8CD9D362-5CEC-4F5C-9B1C-381D0E8BEAB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb1bde473d6e42524cf13f7894b2a69765697649","datavalue":{"value":{"entity-type":"item","numeric-id":4540440,"id":"Q4540440"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$31FEA395-B03B-4932-9C18-D5B384A8114A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"56dc898c005e7b0ab49ade8a17af36d3392a7064","datavalue":{"value":{"entity-type":"item","numeric-id":5281750,"id":"Q5281750"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$18B04881-A181-4143-951D-417772A3EA2E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"45c18d9f54a0aced9ec3c79ba902a68b5e136ef5","datavalue":{"value":{"entity-type":"item","numeric-id":5347628,"id":"Q5347628"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$C27E7071-2E03-44B2-8AD7-FECB1AE4DEEB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"03f0d7ad8f77368bad784a9157523fa0f4e7961b","datavalue":{"value":{"entity-type":"item","numeric-id":4302308,"id":"Q4302308"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$35AFC55E-44B1-4D2A-BF37-E87E2677B397","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5603813c44e4bf82fc6ef6d5e0281d266a6ba498","datavalue":{"value":{"entity-type":"item","numeric-id":450675,"id":"Q450675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$20F52F80-E113-485E-AD82-ECAB9A10E0FB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"60d59dde79f1feef2f9c135ce003fac67a06318e","datavalue":{"value":{"entity-type":"item","numeric-id":1243093,"id":"Q1243093"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$AD5E20CE-BDB4-44F0-B528-16E5D135CB12","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8bced926da5ec8bf0f26a82957e8489b6672559e","datavalue":{"value":{"entity-type":"item","numeric-id":1272557,"id":"Q1272557"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$75CDFC71-F4CA-4F1A-90C6-E67903098236","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1d342fb463d10ba9e60a18bc28bf3f1cfb421880","datavalue":{"value":{"entity-type":"item","numeric-id":5252946,"id":"Q5252946"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$7B742460-FC27-427F-A049-0DFEB1162914","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a30bc7acdd23bf2a717ee4f1c127b25e7588e2de","datavalue":{"value":{"entity-type":"item","numeric-id":4978800,"id":"Q4978800"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$CD38DBAE-372E-4525-B4D8-BDC047FFDBD9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d032b6fca1c7fe5ae59bd635cb270ff679951d8d","datavalue":{"value":{"entity-type":"item","numeric-id":1039381,"id":"Q1039381"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$19C06D8F-CDBF-4557-8EFC-C8D39CB4C249","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8da27458bfc7f3af92e4f0bf9e4831be08786f05","datavalue":{"value":{"entity-type":"item","numeric-id":1936149,"id":"Q1936149"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$250096D4-A293-4173-8EE1-1F947772FEF9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"46cd815e411c7ef8d8914178c95872c1da9e3110","datavalue":{"value":{"entity-type":"item","numeric-id":893997,"id":"Q893997"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$43EC9E72-06B0-4CBF-8264-A176F596CED1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0b4317d2626cf039777e1f1a5afb7ba425308c8f","datavalue":{"value":{"entity-type":"item","numeric-id":2517553,"id":"Q2517553"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2820458$38D17D57-FB4B-4E46-8010-7BCCCB0E0714","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"0c791bb49c52d02ba1816fed938592177f0e67ed","datavalue":{"value":"10.1002/RNC.3496","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2820458$019CA905-F387-4ABC-ABD8-06763FFB5580","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"7a37d57bbf4a0b9eaf8b5a6dc134e64660cee84b","datavalue":{"value":{"text":"Finite-time formation tracking control for multiple vehicles: a motion planning approach","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2820458$E05FEC3D-3EA4-43F8-B5AD-7C3828182F59","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"08bf0f9c7ecece6e11c8d08168d2558290818475","datavalue":{"value":{"entity-type":"item","numeric-id":2517553,"id":"Q2517553"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"704097ed088577aef122bf19802ccbfa609c82e7","datavalue":{"value":{"amount":"+0.901483714580536","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":"Q2820458$290C3D5F-67BE-4F04-BC29-83029DBB40C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f1930411586a9e94020a76dbf253db4f64cd284a","datavalue":{"value":{"entity-type":"item","numeric-id":888811,"id":"Q888811"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a45f17689351f9d4c6a835af793c09aa2719eaa","datavalue":{"value":{"amount":"+0.8660968542098999","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":"Q2820458$4D04E3E2-0531-4C6C-9B5C-5E89308E21CD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7e3dfe5929fffff2e4b2e2c759d07b0e6fad9605","datavalue":{"value":{"entity-type":"item","numeric-id":5367551,"id":"Q5367551"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2da146c346b35d3f665dab9023e33cff4e32ddfd","datavalue":{"value":{"amount":"+0.8521755933761597","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2820458$C2C7C478-8895-4EC2-A177-57893D9DCEB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"dc2873ebcf20d5c7da3b70b84567359c07022528","datavalue":{"value":{"entity-type":"item","numeric-id":5252946,"id":"Q5252946"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a61223c137cabc0da28ab681cb7e7c7ecaa8e68f","datavalue":{"value":{"amount":"+0.8356157541275024","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":"Q2820458$23C66912-1B41-4861-ABD4-44032AADBE03","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"814c072bfd0a8b9e4abc7224b25479a6cd47fa7d","datavalue":{"value":{"entity-type":"item","numeric-id":2790010,"id":"Q2790010"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"03913822d0842f8390e928f3b7ebd9a8e290505e","datavalue":{"value":{"amount":"+0.8338223099708557","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2820458$E3CA1200-F513-4FE8-934F-EF7D2F063DBC","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2820458","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2820458"}}}}}