{"entities":{"Q4989975":{"pageid":7019552,"ns":120,"title":"Item:Q4989975","lastrevid":57208503,"modified":"2026-03-27T11:46:45Z","type":"item","id":"Q4989975","labels":{"en":{"language":"en","value":"Task allocation and trajectory planning for multiple agents in the presence of obstacle and connectivity constraints with mixed-integer linear programming"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7351650"}},"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":"Q4989975$134BC016-D38D-4498-A70F-7186B34D7B8C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"196f8e7dce60fcf4dfb7658b97fe4ce08e947c89","datavalue":{"value":{"text":"Task allocation and trajectory planning for multiple agents in the presence of obstacle and connectivity constraints with mixed\u2010integer linear programming","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4989975$CD3B7A79-3E25-4A8B-8CB7-A428BFEE936D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"ecfaeb3b1f2341107e529433e0451be6b7e0feae","datavalue":{"value":"1465.93013","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4989975$541EDC3D-AE00-4F4C-9016-BD99F4C27EAA","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2b25a917b34c946798f935d0aef40709a26c5eef","datavalue":{"value":{"entity-type":"item","numeric-id":2095301,"id":"Q2095301"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4989975$03CF5602-3CDF-414F-9B9E-FD01ABF87752","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5bc604e917e8da860b392c2a63564fc1d1815c16","datavalue":{"value":{"entity-type":"item","numeric-id":1716675,"id":"Q1716675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4989975$0FBEF711-EB49-449F-BA39-CADBAAA5B5F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3000a89456fb97bd9d6c127ddd73ad4ee727945c","datavalue":{"value":{"entity-type":"item","numeric-id":763171,"id":"Q763171"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4989975$85D7FB67-D4D2-4150-883A-5B434863D91D","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"50b8674a675fb6cb1ce5f58b071e4afdb153e2c6","datavalue":{"value":{"entity-type":"item","numeric-id":2710025,"id":"Q2710025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4989975$CB76B02B-14A7-40B8-B90F-CA83D3107750","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"e2818695c69534e3670b82674cfea0e4cd6e5271","datavalue":{"value":{"time":"+2021-05-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4989975$13E29D25-12EC-434C-8C4F-2C21E4D7A4BC","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"087647ba2abb2bab4ed9f998c2f5e73922e112f3","datavalue":{"value":"93A16","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4989975$14DC7B67-F8C6-4850-9C70-1A714B0F29A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"91a21f0be6001e0c739fe66fa082153cd1a98aa8","datavalue":{"value":"93B45","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4989975$22F592FC-BE10-4C90-9D54-814F877EDD04","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"bf44f3ad3a2f88c9b2a45e4395030d611f0589bf","datavalue":{"value":"90C11","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4989975$12CAB37A-8197-49B0-9C74-767A621E2A9E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c2b6e19d9dd71080ec325abc8d2d62553c71603a","datavalue":{"value":"7351650","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4989975$C6679595-992C-4046-B0E0-B170707E5DD6","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2e25d0ede1d8c3f6eee616361b41ba639dfdc9f5","datavalue":{"value":"connectivity maintenance","type":"string"},"datatype":"string"},"type":"statement","id":"Q4989975$0C547ACC-B9C5-43D8-A620-470FA02AB887","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"675773e756c43c84bd3fc4bfd76eef6916610f01","datavalue":{"value":"cooperative multiple agents","type":"string"},"datatype":"string"},"type":"statement","id":"Q4989975$B9B83847-1925-4825-B595-ED6C8AC611AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"00ef62e17a7025132a2f397d5f6fa77c63db619b","datavalue":{"value":"mixed-integer linear programming","type":"string"},"datatype":"string"},"type":"statement","id":"Q4989975$6394E943-2F50-48F3-B58E-C520D7D2E264","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9e1b98c64c0dfc3bec7cff093f965649ff45b97d","datavalue":{"value":"obstacle avoidance","type":"string"},"datatype":"string"},"type":"statement","id":"Q4989975$5748C3CD-13AD-4D24-9DDC-290E193C37C1","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":"Q4989975$306C0EF2-E73B-427A-A794-5F0F208C443E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2619a2de1ef2fd5eb42840db2ec286c758e94883","datavalue":{"value":"https://doi.org/10.1002/rnc.5092","type":"string"},"datatype":"url"},"type":"statement","id":"Q4989975$E4781F0A-2C5C-4271-BB92-2949C6355323","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"1a785d8332c45434ed01c80e5b889c7fc52149da","datavalue":{"value":"W3040228407","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4989975$A23107CC-FC80-424D-9C11-36872F49354E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"74629c2fb1d1ec77eb0beeb391bd4b99a2259d1f","datavalue":{"value":"10.1002/RNC.5092","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4989975$F6E31420-511C-44A0-A4C7-29B66DCE09DF","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"87c2092b6dc941cc09eac28448434044bb62965d","datavalue":{"value":{"entity-type":"item","numeric-id":2095302,"id":"Q2095302"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1db8e46d9cc7cd2d33a8cc9592756d65e1aebe56","datavalue":{"value":{"amount":"+0.7649750113487244","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":"Q4989975$7300E9CA-61CF-491D-B5DA-FA13AA760441","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1094358c6e662ffc800e0745221244920bfbf5e8","datavalue":{"value":{"entity-type":"item","numeric-id":2409298,"id":"Q2409298"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"556353e7f299507524c9363e5340655996398039","datavalue":{"value":{"amount":"+0.7583277225494385","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4989975$D7837B58-8AB8-4F82-8793-BBB485047C88","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"130c0c8938759b033316536cc4a02e6b17f65d88","datavalue":{"value":{"entity-type":"item","numeric-id":1691202,"id":"Q1691202"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b39717289b32ac49b7b463005d16de6bdd046301","datavalue":{"value":{"amount":"+0.7555113434791565","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":"Q4989975$13F8395F-7CE7-45C7-B7E7-496636182659","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"948cc71e1afea9bebd0c99988bd5bf55ca76d3b8","datavalue":{"value":{"entity-type":"item","numeric-id":5113310,"id":"Q5113310"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dae64ada8516233e8b61dffd06fa85f3b0c54adf","datavalue":{"value":{"amount":"+0.731789231300354","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":"Q4989975$11988A1F-A1CB-4B4D-B4B7-34D687BBE319","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5885b4bac5e22212c7a96d6d6eb41e60a263c9ab","datavalue":{"value":{"entity-type":"item","numeric-id":3505798,"id":"Q3505798"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e645965ee4dedc1339247381ef09c71920b182ee","datavalue":{"value":{"amount":"+0.7227659225463867","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":"Q4989975$441D88B9-EB26-43E0-9D97-E642DB04E48E","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4989975$CEC8A879-F892-434C-BE27-45EF2BD0D087","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4989975","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4989975"}}}}}