{"entities":{"Q441451":{"pageid":443218,"ns":120,"title":"Item:Q441451","lastrevid":61898967,"modified":"2026-04-11T02:25:24Z","type":"item","id":"Q441451","labels":{"en":{"language":"en","value":"Robust formation control of multiple wheeled mobile robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6070555"}},"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":"Q441451$A8BBC187-2528-43EB-8E11-98FCE6E7C9D6","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"f5c4f68ef0633d0f2e8c33344e4734daa2d514ca","datavalue":{"value":{"text":"Robust formation control of multiple wheeled mobile robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q441451$892F22E4-0504-4E6B-A148-D80DBAC2ABAD","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"a70fe3d361f9c7402c90cb0ced6568dc4147ccac","datavalue":{"value":"1245.93085","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q441451$72BE02FF-0129-49EA-991A-80A62F03431F","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f0a86ba89f993cb7882ce066d792c9d13badc270","datavalue":{"value":{"entity-type":"item","numeric-id":441450,"id":"Q441450"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$FA7E31FE-8144-4508-9B46-F92719AC7564","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8b52df0cb93c7806667d725dbe9cfd2eb5e433b6","datavalue":{"value":{"entity-type":"item","numeric-id":185894,"id":"Q185894"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$D2898FCE-C99B-49FC-A1D0-14BD3F789AFA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"65565ef421231dd2fa47bb94f379079908ab66d7","datavalue":{"value":{"time":"+2012-08-23T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q441451$76F53CAB-83D5-4201-8B6A-ABFF8152C5A3","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q441451$707BACCF-1F42-4ECA-8933-D168FCA474C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q441451$F082C3FC-2798-4DD2-B542-98A8D0185FE4","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f4c61a2da6925e9f0bb7096725130570d84d6270","datavalue":{"value":"6070555","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q441451$9D436AA7-2DBB-427D-BE8C-47A08355CCD6","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9a65dade00f13fa27a18530b615cf4b975c18ec0","datavalue":{"value":"formation control","type":"string"},"datatype":"string"},"type":"statement","id":"Q441451$25BD59DB-5015-4B1C-91D3-3CCFFE340BB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"addac94efa1f8e7f5a2ba39e0c89378e9d2f8719","datavalue":{"value":"wheeled mobile robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q441451$25D45EF6-D265-4F69-84C5-7D5728EE19F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"909c9f8fa7fc29f3d53fb58844f728dc815f3ba9","datavalue":{"value":"cooperative control","type":"string"},"datatype":"string"},"type":"statement","id":"Q441451$68441A0B-5363-45FC-B02B-CEEDDC71023A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0ac4f5d3e65428399908ef1797dea7380dddc97b","datavalue":{"value":"decentralized control","type":"string"},"datatype":"string"},"type":"statement","id":"Q441451$C5305517-1C65-4B4A-972F-08BEF8D7314D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"41e38aac73f3c39004091444cf7e566d307b1874","datavalue":{"value":"robust control","type":"string"},"datatype":"string"},"type":"statement","id":"Q441451$7F370790-966E-463D-99C8-42C48632FD12","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":"Q441451$13DB506D-82F0-4E69-B305-5C1FD9DE9812","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"128a809b0b9a63a01fcb9673151e0d41b4dbaf58","datavalue":{"value":"https://doi.org/10.1007/s10846-010-9451-6","type":"string"},"datatype":"url"},"type":"statement","id":"Q441451$0011C900-FCF4-49EC-8E7D-8746C641962E","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"41ace036956d25c0ccc5bb8449d2472376a5d885","datavalue":{"value":"W1994970158","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q441451$2C7BFD19-033D-4815-BCA7-BD13EB6B24CF","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"165668eaa5965def3e7ed3dd80340f19254d952a","datavalue":{"value":{"entity-type":"item","numeric-id":2503602,"id":"Q2503602"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$D822F395-3B90-4B40-AC32-6DC2FE112743","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bdd5e686767e32fb0672375d2e2f63b25786e52e","datavalue":{"value":{"entity-type":"item","numeric-id":5282124,"id":"Q5282124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$C45B8208-B5BF-47EF-A3B7-ED6BEF041183","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2fd68c1e15d6ee107ec9adb7c8a9335853a19b51","datavalue":{"value":{"entity-type":"item","numeric-id":2390560,"id":"Q2390560"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$FE005D22-EF09-4648-83B3-7FCC17D1E0AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"70d30acfac94de651659ba24cabe46f91373c0c1","datavalue":{"value":{"entity-type":"item","numeric-id":4974262,"id":"Q4974262"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$2670847F-D853-4744-B9D3-D86688C55704","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fa7b9e8ccd5fbee1ff96136816cf3e2281296c7","datavalue":{"value":{"entity-type":"item","numeric-id":4031519,"id":"Q4031519"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$103A3555-E7A7-4F86-B4EB-8F19006E244D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ecf84ed682fdf63a6476c113a23ad7bf6213128b","datavalue":{"value":{"entity-type":"item","numeric-id":4540331,"id":"Q4540331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$275A142E-48AE-45DF-A494-3F9C769AB00D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"98bc568735e9a177f6675bf341e687d704fda87e","datavalue":{"value":{"entity-type":"item","numeric-id":5691133,"id":"Q5691133"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$332148B3-68CD-4915-BAC0-2698318A3C6C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3f5317c5ed9502d7a7d623f23ef6fd8f2395ceb8","datavalue":{"value":{"entity-type":"item","numeric-id":4853923,"id":"Q4853923"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$50EA0DBB-ACED-4230-BF77-4109A0D382B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1b38872c6d2556e179f9d111e499f6b1478b02ef","datavalue":{"value":{"entity-type":"item","numeric-id":1307291,"id":"Q1307291"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$65476F7E-6E5B-4942-877D-DB2D2723EFC0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3d7c9e5df45ac8d9e2ca7dd7f22086bb2c0a1a87","datavalue":{"value":{"entity-type":"item","numeric-id":5273870,"id":"Q5273870"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$1573CF4D-7F30-438E-B7CF-3997C5CA34F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c2393e97e64ee18f1cafb22397a643f4447eabc","datavalue":{"value":{"entity-type":"item","numeric-id":4003793,"id":"Q4003793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q441451$4508324F-96B1-415D-BD48-F0B587674B31","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"f8a170ad6ae94581797b5284d24d6cc1f1536631","datavalue":{"value":"10.1007/S10846-010-9451-6","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q441451$4C47613F-9967-418B-87CD-74A56C4FDF7F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"dd7b4261b13eb9c074273b87c3a4de174a8f12c9","datavalue":{"value":{"entity-type":"item","numeric-id":2390560,"id":"Q2390560"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e3a8d97de73b2679758bce6d3bde91b1eb2b2623","datavalue":{"value":{"amount":"+0.8270726799964905","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":"Q441451$165F364E-5AB7-47C5-AA25-FBB73E794530","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"29826af9fdcf3b115b55dc49786898e327da6971","datavalue":{"value":{"entity-type":"item","numeric-id":396581,"id":"Q396581"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"767d1c8b94f243b27d64702fb89d7df259213360","datavalue":{"value":{"amount":"+0.8265420198440552","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q441451$F6CA2F57-F0FC-40E0-ABB9-6D2A04C9BF64","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":"c6c13ee813069bbf85157e5ce0896b5d7590d4c0","datavalue":{"value":{"amount":"+0.8153709173202515","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":"Q441451$1FB18DF2-7849-4247-BFE8-93AFEC2E99D6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a7ccbe3dc9548295b50eeeff5de19f42a97677ff","datavalue":{"value":{"entity-type":"item","numeric-id":3183739,"id":"Q3183739"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ecbd49f51426a775f45021a9896033459e1a194b","datavalue":{"value":{"amount":"+0.7969645857810974","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q441451$C511B5E1-7972-45AB-91CA-84BA00637D7B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"81c91860fe5f3e4733ae6555521b93c437426ea0","datavalue":{"value":{"entity-type":"item","numeric-id":5293799,"id":"Q5293799"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"23c531ad67b41528ef7efef102decd70a4264b9c","datavalue":{"value":{"amount":"+0.794701337814331","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":"Q441451$4649DFEB-95E0-4F75-988D-E831D9B83FE5","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Robust formation control of multiple wheeled mobile robots","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Robust_formation_control_of_multiple_wheeled_mobile_robots"}}}}}