{"entities":{"Q4960168":{"pageid":6989750,"ns":120,"title":"Item:Q4960168","lastrevid":98482271,"modified":"2026-06-05T17:43:46Z","type":"item","id":"Q4960168","labels":{"en":{"language":"en","value":"Adaptive output-feedback formation control for underactuated surface vessels"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7188855"}},"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":"Q4960168$17EF8DDD-2657-43D0-B081-96EED5F6658B","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e4f32ead70ca2ddd00102fff319d4813a407b828","datavalue":{"value":{"text":"Adaptive output-feedback formation control for underactuated surface vessels","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4960168$B880FEFE-9E35-449D-8104-B49066073D6A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"0ef7665fbc1c30afbcd450e3a6855c253220afcf","datavalue":{"value":"1440.93128","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4960168$65B40501-6E5E-4667-92B4-580AED0E3DE9","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"552d522443bb6cebbd08e278d268aeae66875303","datavalue":{"value":"10.1080/00207179.2018.1471221","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4960168$03B47BE5-2DFB-479C-844D-D00DC88A2122","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8fd1f09f03b2151af9bae64b3990df459d820d19","datavalue":{"value":{"entity-type":"item","numeric-id":159993,"id":"Q159993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$CCC9CA5C-AD70-4866-9DCE-388E7808051B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"81ca710d57c429983a3babec89e140462b6a5857","datavalue":{"value":{"time":"+2020-04-09T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4960168$9D2E962B-0995-425E-825F-AC6FD9751A11","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4960168$8E6E0A3C-7E05-4AA5-BE6E-A541F6E420DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4960168$1581CB9D-F297-4442-B812-C691C396FC6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"923c8bef102bb6ebd35f125cc10b56d21864b3aa","datavalue":{"value":"93B53","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4960168$F08BF30A-57A3-4E8A-A63C-C7448E30AFDC","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"91ddc00fe77583900b3f2e4dbea54ee541d25be9","datavalue":{"value":"7188855","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4960168$545A1F7F-6E51-4866-8D93-897385784789","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"455a7df18ec4ae95b296ce740f6698e1a346ba32","datavalue":{"value":"formation","type":"string"},"datatype":"string"},"type":"statement","id":"Q4960168$CACDC72A-4700-4F41-AB0F-CB0CE8514470","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"99921c099cab2568e456b840b1a75ec368f4d69c","datavalue":{"value":"surface vessels","type":"string"},"datatype":"string"},"type":"statement","id":"Q4960168$A06F2FD9-F4F7-41C0-9607-8D9553227DC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f175a3e43b42964b68df6d8230b96c5621c8866c","datavalue":{"value":"adaptive","type":"string"},"datatype":"string"},"type":"statement","id":"Q4960168$3C66E4EE-A06F-4ADE-807C-F773ED9D88F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ab2620a0734893b62c1842c96d0e0e277729bc98","datavalue":{"value":"HGO","type":"string"},"datatype":"string"},"type":"statement","id":"Q4960168$5D0FB318-829D-4DF6-9E41-D795AC53DCDB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7411fabc98bcfbf6b1c32aa3be1966e7c35c0046","datavalue":{"value":"MLP","type":"string"},"datatype":"string"},"type":"statement","id":"Q4960168$34B28AD9-30D9-4520-8F0B-076FD409F755","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"63283cf2f89e96e05bd5c63802ebc9f7db2e5229","datavalue":{"value":"underactuated","type":"string"},"datatype":"string"},"type":"statement","id":"Q4960168$E41CE5C6-D289-4472-9DE9-75A441396979","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":"Q4960168$4224DEEE-A372-4D18-9219-865717EE24EF","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"374a9cda382223327c588673ab2f18962cd0ef55","datavalue":{"value":"https://doi.org/10.1080/00207179.2018.1471221","type":"string"},"datatype":"url"},"type":"statement","id":"Q4960168$EEC5743C-4B50-4554-A155-615E51A9A275","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"39bf934322506fd8f38c59a4e7e2aecbb6bbf88f","datavalue":{"value":"W2799324069","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4960168$35803902-5AE9-4B0E-9B04-632DDD407396","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"89b90ee01a8f3002a5bf6fdcf6a70335d43d5d38","datavalue":{"value":{"entity-type":"item","numeric-id":3479903,"id":"Q3479903"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$1637113A-2A2E-4FC5-A061-D922A0F89C5A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"47d1e40b38bedb2f660874e5046bce496f8213e1","datavalue":{"value":{"entity-type":"item","numeric-id":716118,"id":"Q716118"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$9D353CC3-D9D6-4742-8146-D49C6940E144","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"72962891ea70532e296ec0ffd6089c58beb5f3a6","datavalue":{"value":{"entity-type":"item","numeric-id":2440731,"id":"Q2440731"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$7ADB2B90-1B20-4E07-920A-5B9ED1AC92F0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f41fff4354b0fc0be0a97628ef1d6ff18a8670a6","datavalue":{"value":{"entity-type":"item","numeric-id":880345,"id":"Q880345"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$83AD4C86-883B-42BC-A3A6-FFB9D9A0F023","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b1a494522284a8b286abae8161b6823c43b0ce44","datavalue":{"value":{"entity-type":"item","numeric-id":2769923,"id":"Q2769923"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$5C5537D2-5E2C-4A78-93E2-B2195D3C73AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"167cea3a84d4c78ba8343ce43c15d95d62e16981","datavalue":{"value":{"entity-type":"item","numeric-id":273959,"id":"Q273959"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$812980C9-048B-43EC-AAEB-E82A2130118B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"32ba317e24a276fdf11db74fe7018742f9b87fc0","datavalue":{"value":{"entity-type":"item","numeric-id":2519001,"id":"Q2519001"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$5602644A-3040-462E-BCED-83C264F2C20C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"340ede10fba128bff5fe470fda7d889f8032d6f2","datavalue":{"value":{"entity-type":"item","numeric-id":2407191,"id":"Q2407191"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$D9A7301F-C68C-4AB3-B2F7-5DD0A07EE303","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"40fc763056cb7553026a452f6dfe31e0ae7a6a58","datavalue":{"value":{"entity-type":"item","numeric-id":259481,"id":"Q259481"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$2215D583-57FB-40A0-ADAF-D53438E849D4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3d69cad1993030cb0404c6c08a45b83e8e3287b","datavalue":{"value":{"entity-type":"item","numeric-id":1764048,"id":"Q1764048"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$53ADC826-1199-401D-96EE-EF5AA85514DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ff5f3f04ee92a44c3b16e972a981410fdd12737d","datavalue":{"value":{"entity-type":"item","numeric-id":2970883,"id":"Q2970883"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4960168$819BFC55-CCC5-42A9-AF02-69F9F4EC59A9","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"1bb9da4a37ecfff82ac45825a430426635343fea","datavalue":{"value":"Q129869302","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4960168$815EA17D-FBCB-4C60-9CC0-213E8EBD4946","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"396acb286a7eeee767f7ca2bfa0ff95a45383dba","datavalue":{"value":{"entity-type":"item","numeric-id":3396946,"id":"Q3396946"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"db979b0ee6b8fd7f1e1fbc1b9fec3d5a12858f16","datavalue":{"value":{"amount":"+0.9356688","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4960168$22954B0F-C3CA-4BE4-AB0E-953E78DC0D77","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"be6cc7350863aa6c520880a7aabaead4eee20bb6","datavalue":{"value":{"entity-type":"item","numeric-id":4570952,"id":"Q4570952"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3cc3b1b37f5b5885524d36d7dd1176f547b4d610","datavalue":{"value":{"amount":"+0.93473715","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4960168$8DB715C6-AC2A-4BE7-A93E-D9AA46E679B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ee0afbbc2bb9fc1798ece7a640276a1eb6f27298","datavalue":{"value":{"entity-type":"item","numeric-id":4574745,"id":"Q4574745"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e6ad4250549c0047149726cefe4208a9093e6098","datavalue":{"value":{"amount":"+0.918981","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4960168$BCB7890B-3021-4C29-8D49-79253636ABCA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"14eff7ffae747a08e88faa801c716f29cfc919e2","datavalue":{"value":{"entity-type":"item","numeric-id":4623556,"id":"Q4623556"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1ef23f9ca50eaa66f27be7301adef47983c7cbd4","datavalue":{"value":{"amount":"+0.9132382","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4960168$5B439F5F-D8E7-4F9B-BE79-84683F440796","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"66608a02bdbbbda3354868155488fc76b1be07e3","datavalue":{"value":{"entity-type":"item","numeric-id":2414976,"id":"Q2414976"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b8f42417aca3cd07b7e85ba508a58f11447e1047","datavalue":{"value":{"amount":"+0.90534425","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4960168$B63E3C4B-C0CF-40E3-A928-39B5622B0383","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"85a3ffbfa0e8cefbe83ff0dc87996f87a4db2cc9","datavalue":{"value":{"entity-type":"item","numeric-id":4614953,"id":"Q4614953"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"56a1bc76b4e80e933746330b98afc4d750bb89cd","datavalue":{"value":{"amount":"+0.90432","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4960168$04CC77A0-10FD-4CBD-84B0-CEB2BBA63CE8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"df0d61ce42fbb5ba9e5acc5195be2b6b08be7093","datavalue":{"value":{"entity-type":"item","numeric-id":4620404,"id":"Q4620404"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"88ecf47c4d5f9f2d14b1cf98db638308bb3eae3e","datavalue":{"value":{"amount":"+0.8915668","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4960168$B418173C-943F-458C-8099-C46BD75C27FB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"be962d538906286762c57a2269582fb50c566dc0","datavalue":{"value":{"entity-type":"item","numeric-id":2068595,"id":"Q2068595"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6765e658b1233c684a2df3136081ac5b357b5573","datavalue":{"value":{"amount":"+0.88819563","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4960168$9FA36586-B083-4833-8DEA-31AC7A122260","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Adaptive output-feedback formation control for underactuated surface vessels","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Adaptive_output-feedback_formation_control_for_underactuated_surface_vessels"}}}}}