{"entities":{"Q327945":{"pageid":329712,"ns":120,"title":"Item:Q327945","lastrevid":60995268,"modified":"2026-04-10T20:29:41Z","type":"item","id":"Q327945","labels":{"en":{"language":"en","value":"Coordinated path following control of multi-unicycle formation motion around closed curves in a time-invariant flow"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6641091"}},"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":"Q327945$843FC676-6C85-46EC-BF32-C60D8E87287A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"abc20d3cbfa7de0690c6c620ab989f2269e8f748","datavalue":{"value":{"text":"Coordinated path following control of multi-unicycle formation motion around closed curves in a time-invariant flow","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q327945$C84687A1-985F-495E-8DC4-001246A488E5","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1d291c749db0b5266d245f954f88ab4ea384e4b1","datavalue":{"value":"1347.93178","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q327945$C0D706B9-0D24-4A52-B507-2653D248BD91","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"0ae7ca9d49a55d948d3c11882cf5dd8a028265e9","datavalue":{"value":{"entity-type":"item","numeric-id":187554,"id":"Q187554"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$A749EFC3-0D1F-443D-9F76-1322E80F44EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"dd28d0dd8b65399ebdca149a391dc25691880a20","datavalue":{"value":{"entity-type":"item","numeric-id":6071464,"id":"Q6071464"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$7A062DF1-3AC5-4A13-B3F6-DD4C206F3695","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"d3b6540a5cd6a7f15bca174716bb7f991ed59bfa","datavalue":{"value":{"entity-type":"item","numeric-id":65804,"id":"Q65804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$BD39ED93-854B-41F7-B263-FE4EFB3BB9AE","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c1535619fd8f94633f3128b0ce8819699cf6d5d0","datavalue":{"value":{"time":"+2016-10-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q327945$04D9DB48-DB6E-4458-9EC3-0E203C9753CE","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q327945$49936AD4-3DEF-4AEC-BB48-67C90B6ED57E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"fc648f2b3cbfd7ca947171669dbba40874dba93b","datavalue":{"value":"93D09","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q327945$ABAAAC33-C05D-42CC-9CEC-00F030B4DED6","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"3aada68028dc7097b849d6ba434b3d7a7210de29","datavalue":{"value":"6641091","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q327945$CC7AC997-2815-4EF5-BF3F-EB458301DFBB","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"78a3ca0d36ce94894b43b9d83650eb28a3567131","datavalue":{"value":"robust coordinated path following control","type":"string"},"datatype":"string"},"type":"statement","id":"Q327945$8CEEF5F4-215D-47C2-8E62-559D5F8E77D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7de266402ed2e43cc4dbff37b864695495bfdf8b","datavalue":{"value":"unicycles","type":"string"},"datatype":"string"},"type":"statement","id":"Q327945$843EDCF5-6D72-43FD-A57A-D1E9AB8E30D6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c1c2378cb7553b2874117ee139e32387d9d720d4","datavalue":{"value":"curve extension","type":"string"},"datatype":"string"},"type":"statement","id":"Q327945$7F9FEF81-266B-403C-A0FB-3EEE852B0D2D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5d1b1a5cefb7b011402451b1bf53c1b527049dc7","datavalue":{"value":"nonlinear dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q327945$DB485FF1-A535-44D1-AE36-AC9BBE07D1BD","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":"Q327945$22F0926F-F7ED-49B3-8B78-563F4AB4EA66","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"ee316dcb0057f55d818be2ce44262d8f68ee17d9","datavalue":{"value":"https://doi.org/10.1007/s11071-015-2047-8","type":"string"},"datatype":"url"},"type":"statement","id":"Q327945$4B5936D0-C308-4275-907F-F48FE8B7B18E","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"aa05144e55583a77ff5b7fd1ec71ba109fc4105a","datavalue":{"value":"W1998636156","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q327945$AE94F12F-5AAE-4E1B-B5E3-38CB51CC25C3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"b8cb91d593fdeffb98b08f0de0c3892b2df01f2e","datavalue":{"value":{"entity-type":"item","numeric-id":3497695,"id":"Q3497695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$2346C33D-9B12-4E2F-9DD1-DC4703B299E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"54824a146483a81dde59a05af1937250e2b41eff","datavalue":{"value":{"entity-type":"item","numeric-id":2903998,"id":"Q2903998"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$1E4C4D27-87B6-42AA-AC76-68E85517DCC9","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":"Q327945$3073DB98-5F54-45AD-BE21-4952A6712D56","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"103d1514c536449af6f3e488ed378a3d31a406ef","datavalue":{"value":{"entity-type":"item","numeric-id":2472399,"id":"Q2472399"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$40F53575-A5A6-4C3E-97C2-838F2FC34104","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e716013606e70d8e9144148280e05307e216de43","datavalue":{"value":{"entity-type":"item","numeric-id":5293799,"id":"Q5293799"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$6996A961-1A8D-47AC-AEE2-6569AF4BE551","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"617ca028f3503f8ad7a689403828b09ab1fdfedd","datavalue":{"value":{"entity-type":"item","numeric-id":880153,"id":"Q880153"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$E85553F8-5A49-4612-A3E9-F696F910BC98","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e11965fa866f15b94f6b13bde022e6bd3fe52f83","datavalue":{"value":{"entity-type":"item","numeric-id":3592359,"id":"Q3592359"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$B6B12D4F-E725-4685-B068-97B33C811AA9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"303ab7da87b0f56b5128d2b4eff2cfaff3b89c35","datavalue":{"value":{"entity-type":"item","numeric-id":3119124,"id":"Q3119124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$6349995B-0834-4FFD-A6B3-60DE2CBCFCCE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fecccdcac6919f7855beb274943c26338f95084","datavalue":{"value":{"entity-type":"item","numeric-id":3098482,"id":"Q3098482"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$B69E585F-A505-49C1-9C35-2B7197C8FE31","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59fd22725ed996d343d60e4e1541fbde31bb1e9a","datavalue":{"value":{"entity-type":"item","numeric-id":450711,"id":"Q450711"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$D19B4DCA-A2E5-4DAC-B611-7A65ED0E40DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6c62ae0dcd76d8497bf5d68bc81fa9684aa4e057","datavalue":{"value":{"entity-type":"item","numeric-id":2436955,"id":"Q2436955"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q327945$FAF3F0D0-A5E9-439B-9DC5-8B2C69FC1ED9","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"575d52745727bc1dab8b3bfe983e09a9d268b3be","datavalue":{"value":"10.1007/S11071-015-2047-8","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q327945$577919E6-0E66-4DA8-A596-4D0ABB676FD5","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"69d6e3d76a332edcf11cb18a2b3f2f55ebe1ea47","datavalue":{"value":{"entity-type":"item","numeric-id":3119124,"id":"Q3119124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5709b4ffa094c3adbf6321b9bc2c201b8fefcc82","datavalue":{"value":{"amount":"+0.8396303057670593","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":"Q327945$5FC11D21-19B8-4D8D-9D23-36D7CDE943EC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5e448a42211ec63b6aa011bdfb355de2ac9eaee0","datavalue":{"value":{"entity-type":"item","numeric-id":900184,"id":"Q900184"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ad2a80e82dcdcd3df1be000eac75aa524ae6ad88","datavalue":{"value":{"amount":"+0.7841569781303406","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":"Q327945$5CDE9C58-F802-4B26-99DB-ACEB62DA3B75","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"24b76377bf7ab06c18fe9ca994aa10417ce27336","datavalue":{"value":{"entity-type":"item","numeric-id":2903998,"id":"Q2903998"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"21df774a66326ae3878c4bb43f7b880ad727d20f","datavalue":{"value":{"amount":"+0.7636141180992126","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q327945$EAF63B1E-63E1-4D85-86BE-04EA33955438","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fae309a0a11b21ca3d09dae45092ebdfd10c4e7a","datavalue":{"value":{"entity-type":"item","numeric-id":2181321,"id":"Q2181321"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4efbdf264a909768de6af32af2b91f5cb4fb787a","datavalue":{"value":{"amount":"+0.7623606324195862","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":"Q327945$9DF7F889-A88F-42E8-BFE0-5F90010A5FE3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5e7c23e3598ec2d6fc6306eea1620131cca140cc","datavalue":{"value":{"entity-type":"item","numeric-id":5484602,"id":"Q5484602"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"702d2f1623eb41aa7e4df68515a1b4e0b236b295","datavalue":{"value":{"amount":"+0.7616173028945923","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":"Q327945$8F4096B6-ADFE-4227-95E1-F959CA770D33","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Coordinated path following control of multi-unicycle formation motion around closed curves in a time-invariant flow","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Coordinated_path_following_control_of_multi-unicycle_formation_motion_around_closed_curves_in_a_time-invariant_flow"}}}}}