{"entities":{"Q2821379":{"pageid":2832117,"ns":120,"title":"Item:Q2821379","lastrevid":52625456,"modified":"2026-01-23T03:28:00Z","type":"item","id":"Q2821379","labels":{"en":{"language":"en","value":"Formation tracker design of multiple mobile robots with wheel perturbations: adaptive output-feedback approach"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6628651"}},"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":"Q2821379$EB13C962-3B99-45E2-98D1-74AC40947287","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"9ae29df66105fd16924538ca6365db3c0c2b94a6","datavalue":{"value":{"text":"Formation tracker design of multiple mobile robots with wheel perturbations: adaptive output-feedback approach","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2821379$20912455-38F5-4D5C-8B07-552C83E5772F","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"7ca6a962595996f0d3c1a36f21a30fc539143a7c","datavalue":{"value":"1346.93045","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2821379$0C0F244E-6CF9-4156-93D5-43BCEA803216","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"72277cd9c785552854ebb4eb10016dee7d54b309","datavalue":{"value":"10.1080/00207721.2015.1107149","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2821379$990ED2CC-586A-4A65-88EE-54CB5930829F","rank":"normal"}],"P16":[{"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":"Q2821379$21C7E433-4637-47A1-95F7-C60AEBD9E80C","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"dbba08bda189fa94872c99bc6572a2cbb863f372","datavalue":{"value":{"time":"+2016-09-20T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2821379$AFA1452A-C7F1-47BB-BDD6-AFA02119A30A","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2821379$780174F2-76A2-4CBB-80BA-1EB0F3C8AB12","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2821379$DD9C715F-DE8C-4657-A1D3-2E0FF34E7BA0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"62b95b6f7919542f12b1e12b0279617ef6dfa9f9","datavalue":{"value":"93C73","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2821379$F2678B7C-731B-4EF5-8E70-D1730A5F8C68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2821379$05D78600-7EA3-4B53-A1A0-460EA6BF927B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2821379$5F6C856D-A321-4EC5-9580-663207194D28","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c65855aee360e645cbfedc63ead7504c340b2f19","datavalue":{"value":"6628651","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2821379$F7575E69-D1C9-43D4-BAC6-266CEAE8CDE9","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9b0af762a4c21cc167bf75c81d62619f15f11d19","datavalue":{"value":"output-feedback formations","type":"string"},"datatype":"string"},"type":"statement","id":"Q2821379$88FAAAC5-503F-4C5A-9598-B5D053C325FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"dabaec87abda345de0aa58962697668066cca1ee","datavalue":{"value":"wheel perturbations","type":"string"},"datatype":"string"},"type":"statement","id":"Q2821379$2F937DAF-D1FD-4132-8D82-52E843AB117E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bdfb719d89f95f0a5fab8d5e7e93957b4da35ee5","datavalue":{"value":"multiple mobile robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q2821379$FF19779E-A01F-4B67-BA10-4DE05790757E","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":"Q2821379$3A4A3EC8-FB01-4D0E-9504-1E677644A961","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"6fa303e02306088591c1861b5816e527a305ab48","datavalue":{"value":"https://doi.org/10.1080/00207721.2015.1107149","type":"string"},"datatype":"url"},"type":"statement","id":"Q2821379$CEBA19B7-0139-47C9-808B-15E3810BCFD5","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f746c9f75fe4d0e9be41b57ec5d710f09d671571","datavalue":{"value":"W2320026268","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2821379$E22162BF-CE02-4AEE-8744-512649499D95","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"c379535fe6c726a71493cb6a31eb512a4b6fd5d9","datavalue":{"value":{"entity-type":"item","numeric-id":988021,"id":"Q988021"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2821379$3C7E9445-CF60-47FD-8CA2-0C5309C40C80","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4eab64603f3a0b37d95b3316c5f53a399c73285e","datavalue":{"value":{"entity-type":"item","numeric-id":4837468,"id":"Q4837468"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2821379$1BCE06A3-1CFD-4BC8-A6CD-CBC17ABC5ED9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f82ca15d7ece01e9424b4cfa81c5cd1577a92c6c","datavalue":{"value":{"entity-type":"item","numeric-id":397318,"id":"Q397318"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2821379$098EDE18-E38D-45BC-92D0-0608E231C246","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e74a62782bc20c600f9c6afb60bf28e280ae66a2","datavalue":{"value":{"entity-type":"item","numeric-id":624946,"id":"Q624946"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2821379$C65A6CD0-D447-480A-9875-7715EFC80B6E","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":"Q2821379$58AEC38C-AABF-4BD7-8199-56E259AFA844","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b1ee091442c344c7cede13444d406374a2517007","datavalue":{"value":{"entity-type":"item","numeric-id":2730263,"id":"Q2730263"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2821379$B8289B98-E0E6-46BA-8615-B53D5225C031","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"855bb150b906155ff9ea5fb68c264e5afe518156","datavalue":{"value":{"entity-type":"item","numeric-id":2342770,"id":"Q2342770"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2821379$4B435D21-F575-4ED4-8345-8A61042D63DF","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"7d28953bd0f0c2d8508713f8e55254124cfc990d","datavalue":{"value":{"entity-type":"item","numeric-id":6544798,"id":"Q6544798"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2821379$C3CE9D3B-270F-442E-B6BF-8C83F4241825","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"558c4446b4f63622003743eac5709bbe35a6aeaa","datavalue":{"value":{"entity-type":"item","numeric-id":4644150,"id":"Q4644150"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4f6c06c5666b11adf6ffa898d52f776a0a2806d0","datavalue":{"value":{"amount":"+0.8003135323524475","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":"Q2821379$8445D4F8-B129-4F34-BE85-9459DA66D74E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"686e38e0ebab1f399cda0d4091d7b645c64548fd","datavalue":{"value":{"entity-type":"item","numeric-id":1687357,"id":"Q1687357"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"391d7604a649f1839700aaac66eb750ba7051e44","datavalue":{"value":{"amount":"+0.7971087098121643","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":"Q2821379$6543717F-FF8A-487A-B116-C54F2C175DC6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"353cf1a417ae540a69da18af7c7da1ffce883964","datavalue":{"value":{"entity-type":"item","numeric-id":5143008,"id":"Q5143008"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"65af38099ba076e4d04cfe26a65c800f9fedf8c7","datavalue":{"value":{"amount":"+0.7891466021537781","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2821379$D850383E-B969-4668-B649-599E3712998D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"727fd19f1686feddf430cd2afb83399b6414e323","datavalue":{"value":{"entity-type":"item","numeric-id":2113678,"id":"Q2113678"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5f861208abca53e9eaf8df265b0f5388376c4911","datavalue":{"value":{"amount":"+0.7883515954017639","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":"Q2821379$AB4415CA-8DDC-414C-AE70-0C8125C50C50","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e27f554dfcf1365ff230fb6aa3fe728a72540e66","datavalue":{"value":{"entity-type":"item","numeric-id":329135,"id":"Q329135"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5e981e2a60719dec8820efd8baabd66c520985dc","datavalue":{"value":{"amount":"+0.7736403942108154","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":"Q2821379$8A80C5F4-B3A1-422A-AA15-92BC361938F7","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2821379","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2821379"}}}}}