{"entities":{"Q6081079":{"pageid":13215386,"ns":120,"title":"Item:Q6081079","lastrevid":98732894,"modified":"2026-06-05T18:21:17Z","type":"item","id":"Q6081079","labels":{"en":{"language":"en","value":"Distributed adaptive fixed-time formation control for second-order multi-agent systems with collision avoidance"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7755022"}},"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":"Q6081079$0FB0D3FF-72A9-415D-A75E-F596729014A1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"c073a510687d5503e01059592a149b9f6fd34bcf","datavalue":{"value":{"text":"Distributed adaptive fixed-time formation control for second-order multi-agent systems with collision avoidance","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6081079$A23B3468-61BB-4071-B1D9-E9FAB5062031","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"5d089b72b6b05a2554d666deb6cccbc0a6be7a0e","datavalue":{"value":"1526.93122","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6081079$19BD823E-B907-44F5-ADC7-86D6A5F654EB","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"cafb33ba8ef34698d31f3efb8d207639d79a0499","datavalue":{"value":{"entity-type":"item","numeric-id":6057380,"id":"Q6057380"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$D82FFDC9-1038-4F0B-A5FC-A925361B766F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2f55496a72d759daf2db28d1b72e520d9a82e1f5","datavalue":{"value":{"entity-type":"item","numeric-id":6081076,"id":"Q6081076"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$4ADB563F-0B65-4083-A28B-7862238189D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5f4b1ae46879dee88717044022fbf21b06c9d6b6","datavalue":{"value":{"entity-type":"item","numeric-id":6081077,"id":"Q6081077"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$8DD2BD74-94BC-481C-937E-C5DAA6FA02EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"88ecb079b4e53ee876a1ff6885a7c946538bee92","datavalue":{"value":{"entity-type":"item","numeric-id":6081078,"id":"Q6081078"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$E6A5BEC2-19F1-41BA-A9AB-59EC083F6F0E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"c144f0fb88440afe4b13555aedcc8676a016b6d2","datavalue":{"value":{"entity-type":"item","numeric-id":70466,"id":"Q70466"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$CF0E5797-9A2C-45DF-B75A-4D3D3C314EC1","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"57a7e417d2fb573cdec180dd2079009ed54f0531","datavalue":{"value":{"time":"+2023-10-25T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6081079$24C4E427-CCF4-4DBB-89ED-E4070431107E","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6081079$C277AAE2-E9C3-435D-AC92-67013C560DB0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c40b5d207b98d7119d9e445937aa745edafa81c3","datavalue":{"value":"93D40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6081079$C889A3F8-2C9E-4424-9BA2-42871EFCC8F0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"087647ba2abb2bab4ed9f998c2f5e73922e112f3","datavalue":{"value":"93A16","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6081079$63F7BD21-8C55-4076-A206-61FCA10353D6","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"0a3690fcb063f51a382fc52f9aacbc9d62a89c3c","datavalue":{"value":"7755022","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6081079$37552C92-FF23-4A24-8B4F-26835F33E673","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c12d674824c22f72d38c36812a28d515db672bf1","datavalue":{"value":"multi-agent systems (MASs)","type":"string"},"datatype":"string"},"type":"statement","id":"Q6081079$D156AB6B-0350-4A18-9CDC-880FB4C664D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"32f83ce8e226558ec26cb4a5905e647a588bf57f","datavalue":{"value":"fixed-time control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6081079$90E11E78-45AE-47B7-8CF1-BA0A6B854F1C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6390079719a5ad8f3326563855ae353ae5e489d8","datavalue":{"value":"collision avoidance","type":"string"},"datatype":"string"},"type":"statement","id":"Q6081079$FD9C56F9-0E90-4011-89C8-2BF45DEBCCC3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9a65dade00f13fa27a18530b615cf4b975c18ec0","datavalue":{"value":"formation control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6081079$4C500D57-9F8E-4D8E-863C-518574A37FB9","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":"Q6081079$4405EB13-466F-47E3-8990-BEB75A4862E1","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"20e587db6d771f33a894c035bacacfe82f8cfde3","datavalue":{"value":"https://doi.org/10.1016/j.ins.2021.02.029","type":"string"},"datatype":"url"},"type":"statement","id":"Q6081079$597183A1-F84F-4343-A3E7-F1000C5CFC7F","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"5ba79f1afa8810bebba307bab84045d0bb0c997e","datavalue":{"value":"W3132676906","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6081079$8E2833D0-3BCC-4010-9191-B5A3CD24420D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"7b878252dcc835c2598845ff8d093fb5c999a491","datavalue":{"value":{"entity-type":"item","numeric-id":783329,"id":"Q783329"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$E6398A80-CC46-4A51-A2F8-ABD6641CBC23","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"764803c42e9b72ce858604423d0a0446510f2e6c","datavalue":{"value":{"entity-type":"item","numeric-id":1999116,"id":"Q1999116"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$7FAEB377-5879-41C5-851B-C2FC72287BB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6e16e0ba3f70d367a95454fac025a863c11df3a6","datavalue":{"value":{"entity-type":"item","numeric-id":4644867,"id":"Q4644867"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$53ADC8C9-3503-40E9-A379-DD44D8D3EEF8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"84ade4a970ded48138e1dc0f39ea32955b32e0ba","datavalue":{"value":{"entity-type":"item","numeric-id":259401,"id":"Q259401"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$157C60D2-9418-4FF3-97C5-76FD7AC66179","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"62987634c3890835ff76dfa23d54d66f105fca21","datavalue":{"value":{"entity-type":"item","numeric-id":2338186,"id":"Q2338186"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$8C4F8793-A28F-4564-A083-9B1C7B24E5C4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f2bd9e196e1c9d5db80c2f870ca63e0ab393fb06","datavalue":{"value":{"entity-type":"item","numeric-id":494842,"id":"Q494842"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$23E5415C-470C-44CC-A3F7-6D7EB74DD849","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6cb4114d0f14259a88ef6099860d052ccd7221f9","datavalue":{"value":{"entity-type":"item","numeric-id":450709,"id":"Q450709"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$64F67289-CB5C-4EC7-AED0-C5B84C80A356","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"60896ebad7516bafd60244ee59d2ec0c9e49af39","datavalue":{"value":{"entity-type":"item","numeric-id":4990442,"id":"Q4990442"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$AB2F6449-E50B-4EE2-BC22-1786560C5807","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e5c974c955f4310c26bbbd7cbd676d42f0a43bf3","datavalue":{"value":{"entity-type":"item","numeric-id":2276118,"id":"Q2276118"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$2548C4A6-A1FD-4D6B-8C5D-BB6AEF6E6FFC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"30116afabec181b24c32e29e323aec63f479e92f","datavalue":{"value":{"entity-type":"item","numeric-id":2795775,"id":"Q2795775"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$E809257E-B676-4832-95D7-C331EACF2F58","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fe4c449e4445339c2c069f845c22a6566b0d2ba3","datavalue":{"value":{"entity-type":"item","numeric-id":1798835,"id":"Q1798835"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$2C31A79B-D5DF-4A10-A1B6-C21D23C8DDF8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"05c2ed1cdfd5a90e03600fbd73940f6e1505638e","datavalue":{"value":{"entity-type":"item","numeric-id":5265685,"id":"Q5265685"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$6E106306-1AB6-4FB8-BAD6-B5E2CEED1FD8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b169f855d9c57fcad74752881457e1eb798ec45f","datavalue":{"value":{"entity-type":"item","numeric-id":285720,"id":"Q285720"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$58E48EB5-C7DD-4D0C-805F-F495E7FADB6F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"73cff3934b9dffe1e2da40fecac75bc08d24bf8e","datavalue":{"value":{"entity-type":"item","numeric-id":490843,"id":"Q490843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6081079$3DC1DBDB-9D32-438E-8F7F-459B0CC987CD","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"63892beeaf1ded5096ce20a443b8c1ec54815141","datavalue":{"value":"10.1016/J.INS.2021.02.029","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6081079$A6B24BB4-21AA-4A06-83E0-12C1E528FA89","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b1fed564d5e4bd455d8f2bf0600d43d5600d1c04","datavalue":{"value":{"entity-type":"item","numeric-id":6571147,"id":"Q6571147"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d848685c1febde51313bf92faefd4c6038832042","datavalue":{"value":{"amount":"+0.8687135577201843","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":"Q6081079$7047F55A-8B49-4BE1-8DB3-7A3A1D65A6BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"43574bf3ecdc4299c0d2c24d8b6300a7a76b3683","datavalue":{"value":{"entity-type":"item","numeric-id":6192944,"id":"Q6192944"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"76eff8b6a571218adef9f367060642793d2edb37","datavalue":{"value":{"amount":"+0.8316488862037659","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6081079$B4E6B2A6-D00D-4A82-9212-D42E3D6D04FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d0ac74b47b720daaa2a236aac53faa1c7f7104da","datavalue":{"value":{"entity-type":"item","numeric-id":6127491,"id":"Q6127491"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a9f6f735d9df3f5a89549cd78be9ccaa7ad16fc0","datavalue":{"value":{"amount":"+0.8128752708435059","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":"Q6081079$478D5314-CC94-419A-BFEB-C1015AC3D8EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2af817a058f3409a1b2050ff16ff3f0e1a2df602","datavalue":{"value":{"entity-type":"item","numeric-id":6194802,"id":"Q6194802"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e04ca121da00aa33d439cb0d89ec9c1f970634bb","datavalue":{"value":{"amount":"+0.8095351457595825","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":"Q6081079$1B2E2E03-E24A-4A06-8430-091490ABD742","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Distributed adaptive fixed-time formation control for second-order multi-agent systems with collision avoidance","badges":[]}}}}}