{"entities":{"Q4990846":{"pageid":7020423,"ns":120,"title":"Item:Q4990846","lastrevid":54009323,"modified":"2026-01-26T02:07:22Z","type":"item","id":"Q4990846","labels":{"en":{"language":"en","value":"A geometric approach to target convergence and obstacle avoidance of a nonstandard tractor-trailer robot"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7352879"}},"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":"Q4990846$F0AFCE32-6AB4-4A1F-8620-F2B7D6B78297","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"48ecf8a6d864ab4e4bcd8dd2c2973c616026d158","datavalue":{"value":{"text":"A geometric approach to target convergence and obstacle avoidance of a nonstandard tractor\u2010trailer robot","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4990846$E7687CC0-4DAF-4174-9279-3745A5B832C7","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"e8348feb2b67ffba703209b0815c7982560d670f","datavalue":{"value":"1466.93029","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4990846$9BDC9438-FF6C-46DC-9293-4B2C16CA78E0","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"3a9b0f8f3c46cc1d1b1de5c8731cfa10b18c2ebc","datavalue":{"value":{"entity-type":"item","numeric-id":633928,"id":"Q633928"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4990846$D26D851D-BE52-4220-ADAF-8D49D9376745","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"cf2614bcff13245bef6a7e3495bf1ea29bc7a6f6","datavalue":{"value":{"entity-type":"item","numeric-id":620319,"id":"Q620319"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4990846$07847929-5C74-4FDB-8AEA-BEBA578DFC1C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"75b7f76db255938a3f0751c9dfa0ad1f332d4154","datavalue":{"value":{"entity-type":"item","numeric-id":620318,"id":"Q620318"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4990846$ECE42FAB-D004-44FB-8A2E-D361E919D3AD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ae2561f7e5708f27c237b6b8d7754f353146e143","datavalue":{"value":{"entity-type":"item","numeric-id":904537,"id":"Q904537"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4990846$5B3A7DD0-4D79-4BD8-B354-AEB0ACBDCB9A","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":"Q4990846$9EA7840E-4C45-44E9-8B19-B6A5D1BF8300","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"1c559d7127091dab64a47a71dfcef55a10362e2e","datavalue":{"value":{"time":"+2021-05-31T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4990846$1CA99025-463B-4C11-A870-2DBE3F2920DF","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"216a608e3fa79d664fb5f28a72edf15852141160","datavalue":{"value":"93B27","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4990846$1F8BCDC2-8C04-438B-94FD-F03D77F7C716","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4990846$6F046EF1-9369-41FA-9923-AC92859A0B6A","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"2bb47b0402ebf6175d0347d67c75e8786bbafa4b","datavalue":{"value":"7352879","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4990846$BCCA8E7B-BE1D-4B9C-9173-F9ECC6F9FFF5","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"03ee0109af41ad406ecd743518061baaa9e5e3ff","datavalue":{"value":"convergence","type":"string"},"datatype":"string"},"type":"statement","id":"Q4990846$172F2C2A-BE63-43FF-872E-D1521EC31768","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b138e94885445ae0bc04037167a2e07c082da84c","datavalue":{"value":"eventually uniform stable","type":"string"},"datatype":"string"},"type":"statement","id":"Q4990846$CF42955C-8503-4528-81AF-F64A8CD87D34","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"592b26f381b52d5f64dca6015d17aa5dbc93e839","datavalue":{"value":"geometric approach","type":"string"},"datatype":"string"},"type":"statement","id":"Q4990846$A02DA403-17F8-46AA-9FFC-4AE6937A8354","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d7619f141a80fd6734de7b0a16362bedd7c1d040","datavalue":{"value":"obstacle avoidance scheme","type":"string"},"datatype":"string"},"type":"statement","id":"Q4990846$43FA4795-60A4-4222-8987-59A31EC9E587","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2b614df94bdd869d63c082ed70b1eb72ae3b7ce6","datavalue":{"value":"tractor-trailer system","type":"string"},"datatype":"string"},"type":"statement","id":"Q4990846$D8A0CF5A-A37F-44FA-9DC4-D1FE31E6B072","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":"Q4990846$53287DBA-4A2F-44E2-A52A-EEF734B3B180","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"529f46c7cb45a2609a0e5709bc8a6967f23fc95d","datavalue":{"value":"https://doi.org/10.1002/rnc.5021","type":"string"},"datatype":"url"},"type":"statement","id":"Q4990846$15333776-35DB-4A78-9708-9DBE2BF6C607","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"b3bd15306e588412f04a3a921e0366c9c3f3dfc0","datavalue":{"value":"W3036693572","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4990846$2EBDD9A5-71D1-42F2-8399-D4DB2476D845","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"811bbe23c9978d9ef49a60d147df10065e7d6f7a","datavalue":{"value":"10.1002/RNC.5021","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4990846$1C3790E5-E0B9-41C2-ACB7-FC65AF53A7D2","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"977c6c069851acf57d767f7eb53d5d63f1d4df5c","datavalue":{"value":{"entity-type":"item","numeric-id":3504764,"id":"Q3504764"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"33dad83c68dc03fcea2d2ee0ce31edbbcba42fa4","datavalue":{"value":{"amount":"+0.7683926224708557","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":"Q4990846$1EF51D9E-755F-4AD7-864C-27BD17E27E02","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"26db979937878b4d863a16fa481505c00514cee6","datavalue":{"value":{"entity-type":"item","numeric-id":2629347,"id":"Q2629347"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f670e0b06625adc685115a977c8edaf8f4dcb754","datavalue":{"value":{"amount":"+0.7347774505615234","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4990846$BFCD22C2-8EC3-4032-A2E6-C8F1D533BD3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3d8b07a1acdd239ab2696169d1bfe83470ddddd6","datavalue":{"value":{"entity-type":"item","numeric-id":5043515,"id":"Q5043515"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"848b56a092204cd061a2cbf48c74a57d58d4478f","datavalue":{"value":{"amount":"+0.7242941856384277","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":"Q4990846$AF104C87-7087-4018-8E86-B295403DD8FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6a4ce1f18a0193721f73bf8d4584fcdd0b30078f","datavalue":{"value":{"entity-type":"item","numeric-id":5455101,"id":"Q5455101"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"95aac5cbc2828c049c1307760c53ca19651a5942","datavalue":{"value":{"amount":"+0.7230092883110046","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":"Q4990846$50879BD0-F169-4AB0-B72D-5B18915D26EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ce292933ed12ad7528c70c4c54c3795c66887311","datavalue":{"value":{"entity-type":"item","numeric-id":826756,"id":"Q826756"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b67b096e5b08fa4707734993739df14441804571","datavalue":{"value":{"amount":"+0.7115703821182251","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":"Q4990846$8149893F-59FF-4CB8-9351-88D10CF9145D","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4990846","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4990846"}}}}}