{"entities":{"Q4948805":{"pageid":6978387,"ns":120,"title":"Item:Q4948805","lastrevid":98477348,"modified":"2026-06-05T17:40:03Z","type":"item","id":"Q4948805","labels":{"en":{"language":"en","value":"Motion planning for cooperating mobile manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1436279"}},"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":"Q4948805$32575127-A75E-4C18-BB42-4DC6CAD44023","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"2f0b0ac05a4408c0e388b755ce31a12f2dd02975","datavalue":{"value":"0973.70008","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4948805$E7333AF7-1D63-440E-813D-4D1203F8465B","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"214241018b24efbae94601d7ce53d3a530b22043","datavalue":{"value":{"entity-type":"item","numeric-id":3564050,"id":"Q3564050"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4948805$74DA87AF-D040-46A8-9393-19BF443BAE76","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"03df44ed6ecc1f9048729bb20308d47a48e45d2a","datavalue":{"value":{"entity-type":"item","numeric-id":360245,"id":"Q360245"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4948805$77AB349D-649B-42B3-8E57-D02A79EED60A","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"f824e8df8660a01a22c6ea772f84f035aa08b14a","datavalue":{"value":{"time":"+2000-06-07T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4948805$2ACFBEE5-1A85-4FDC-B603-A7985D05BAD1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4948805$15992374-35B3-42BE-BD13-1DE72C302F81","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4948805$48FE6913-393B-4D9F-8225-16342311951B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4948805$BE3C16BD-98E6-4709-B6FB-EA3BDAB4F420","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c41c3b48806f65b48642453f3d3ae9504dc0ea98","datavalue":{"value":"70F25","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4948805$29E6D230-FF94-4861-8DC3-3365F2ED93FE","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"74cc12ca05a7ca6034528356dac647af2e495583","datavalue":{"value":"1436279","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4948805$19FDCD69-A3CE-4428-95F0-7D99D925B171","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2f3c4174a5d716f293c7527ce1cefdfb920908bc","datavalue":{"value":"motion planning","type":"string"},"datatype":"string"},"type":"statement","id":"Q4948805$20397731-8D81-48DA-BF14-1846B9671B38","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fa5008bd99a6c74135c4b4caefb7423088a4906a","datavalue":{"value":"nonholonomic cooperating mobile robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q4948805$AA5909AD-EC1E-47AF-BB95-5F54A6D9010A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9c81509e7d1a077138f818ecb3dd528c528de724","datavalue":{"value":"calculus of variations","type":"string"},"datatype":"string"},"type":"statement","id":"Q4948805$E82363A9-F5B9-4D4D-A32B-09DB94216308","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q4948805$6BC2BA98-EB4C-47B3-AA1A-1ECA64BE9D0B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2ed00663381eafbb37d269a101970dbf61519410","datavalue":{"value":"trajectories","type":"string"},"datatype":"string"},"type":"statement","id":"Q4948805$D98D7F0F-6D5B-4608-9CB9-95361792EAF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bc6df83a4e8c59752beb0b9effd0645a120e57bb","datavalue":{"value":"obstacles","type":"string"},"datatype":"string"},"type":"statement","id":"Q4948805$2932A650-900B-4B0C-8519-066AEA9F4435","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"33ad56d4b318fb66938a7fec910dc3cc094f783a","datavalue":{"value":"kinematic constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q4948805$D31B0532-2264-4BAA-80C2-0F096891A55D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e35a9bd5aeb1195fd41c267f640670a643988e90","datavalue":{"value":"dynamic constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q4948805$1C8EBD8A-5B02-41FB-B8E4-1FD1BF31987B","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":"Q4948805$348CA92A-947A-4897-B2BA-F96A0F47F93A","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"3098f0bcc36648405e5612c8b7becc0d216147eb","datavalue":{"value":{"entity-type":"item","numeric-id":3140192,"id":"Q3140192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4948805$6506DC3B-8797-41C9-97C6-87AD27EB609C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"330180eabbb9c0aff32140854bb51df7acf6dc3d","datavalue":{"value":{"entity-type":"item","numeric-id":4841484,"id":"Q4841484"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4948805$0332D92E-A9D7-4949-9CE3-98D7D37295CB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6f1075d48ef12909818377e813a377939c126fef","datavalue":{"value":{"entity-type":"item","numeric-id":3278730,"id":"Q3278730"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4948805$B948D5BB-87C1-465C-BA28-2EDA65A13366","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d13b40cce46ee9184c01613b9e0fa873858b21b1","datavalue":{"value":{"entity-type":"item","numeric-id":4291145,"id":"Q4291145"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4948805$B5859A7A-B99A-4997-81C4-F4E68E29460E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5fea54e3be57586695f5da77d91c939e67a6aac2","datavalue":{"value":{"entity-type":"item","numeric-id":2561104,"id":"Q2561104"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4948805$486133BB-82FC-45E3-B092-379D6D018E48","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"05d1cca984712644ce72400dcbbb245da0be07f0","datavalue":{"value":"W1974489012","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4948805$613E6345-A682-463B-AE3B-0274E23B7AD4","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"187fe52e54910e564b13f0d787ce9b9d3d46a063","datavalue":{"value":{"text":"Motion planning for cooperating mobile manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4948805$C88B094A-C4E9-4772-A3D1-1570A027AB94","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"f56465978b8691fd3e66a2b4bf78aa6092a9f96e","datavalue":{"value":"10.1002/(SICI)1097-4563(199910)16:10%3C557::AID-ROB3%3E3.0.CO;2-H","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4948805$073008A4-3563-47A8-A286-406DDB0699C3","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"75f7f66a6d95927e3f8eee5897e2069535079815","datavalue":{"value":"https://doi.org/10.1002/(sici)1097-4563(199910)16:10%3C557::aid-rob3%3E3.0.co;2-h","type":"string"},"datatype":"url"},"type":"statement","id":"Q4948805$ED402984-3198-4B17-91A3-BBF59FDEE5A5","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c58db1ebbf31bbfad609fca078f70383ed004d7e","datavalue":{"value":{"entity-type":"item","numeric-id":5245429,"id":"Q5245429"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9ff5e10bef474daf26f69ab62e9da9f1a0539b1e","datavalue":{"value":{"amount":"+0.7951139807701111","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":"Q4948805$14E75C32-90FF-46E9-89D5-B6BDD16CA638","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"318e9e69d50930cf22b5eb9d3bd94e22970049ff","datavalue":{"value":{"entity-type":"item","numeric-id":4848586,"id":"Q4848586"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b3eec2745f34320dc299b25e7aef33781aa7c6b8","datavalue":{"value":{"amount":"+0.7841898798942566","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":"Q4948805$7BA883BA-63AE-4855-B6EE-D7E93D2274AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"06bfae936b3c9bfb1d6598ce98adbed63854869a","datavalue":{"value":{"entity-type":"item","numeric-id":1194940,"id":"Q1194940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a971c68a38f4f1b4a9301db6ee880d930fb9369d","datavalue":{"value":{"amount":"+0.7743905186653137","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4948805$DE4490EA-3915-406E-868A-5662AAEA4F89","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"27f7df727e5386d835ae2bb4bf5d1b48dad4ae7c","datavalue":{"value":{"entity-type":"item","numeric-id":718915,"id":"Q718915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"98faef68dd97061cbde5ee2113e897866eae69fd","datavalue":{"value":{"amount":"+0.7717450261116028","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":"Q4948805$C7B2F67D-CF33-4932-BB69-5CE994C0A781","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"daf0725064f490b0fea800da26eef503fd9ab05a","datavalue":{"value":{"entity-type":"item","numeric-id":4848592,"id":"Q4848592"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0605c0da4f6035afc1c4900b1c74138995bfbe94","datavalue":{"value":{"amount":"+0.7686616778373718","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":"Q4948805$484C432C-4A2A-42C9-9ECB-7BD5137FD4C6","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Motion planning for cooperating mobile manipulators","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Motion_planning_for_cooperating_mobile_manipulators"}}}}}