{"entities":{"Q6539440":{"pageid":14150583,"ns":120,"title":"Item:Q6539440","lastrevid":95507963,"modified":"2026-06-05T09:10:55Z","type":"item","id":"Q6539440","labels":{"en":{"language":"en","value":"Collision-free motion planning algorithm in a Y-graph"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7848940"}},"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":"Q6539440$DE6A8071-91CD-46A4-BFFF-F3D22FA004D1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"bd7afecfe8082b59856d3fc4151e4f2845c77e58","datavalue":{"value":{"text":"Collision-free motion planning algorithm in a Y-graph","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6539440$D4AC4709-63FE-417E-87D2-AB6CDCD0679E","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"5e42fab3544444b5178186c0b1d0edd7f456f3cf","datavalue":{"value":"1536.55001","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6539440$7D10ABF0-A45F-40AA-81C0-2ECF73A971CD","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c1c97a5b43cbce23b448cacf1a6cc4c9be4102cd","datavalue":{"value":{"entity-type":"item","numeric-id":6539439,"id":"Q6539439"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6539440$67EBED22-F6FC-417B-A846-8BBA841A5F8B","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"03ae910e2418814328c1376fe7f08018b456d48e","datavalue":{"value":{"entity-type":"item","numeric-id":6539433,"id":"Q6539433"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6539440$2BDC3036-B667-49DD-8160-FA186D7EE3F7","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"e8e66a32d534df6de0df71c4be5910df36dd6c70","datavalue":{"value":{"time":"+2024-05-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6539440$4E6AC488-3741-4995-AC94-0DE6480EE11E","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"8154fbc9a1146bb169710b434f9dd911afae2388","datavalue":{"value":"55M30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6539440$DDE61B40-F30A-4BFE-9D70-7CA04E219F3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"54619a188e2fef445f43361143b357d4aae6f072","datavalue":{"value":"55R80","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6539440$2FDE10EE-5D72-4A2E-B190-A5CD32B40E5E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6539440$8F57B0B2-023F-4CA5-8B63-4E2A02F91E86","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c8efc42ddd079836eeb646259d29b863b6ba2047","datavalue":{"value":"7848940","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6539440$9135C943-4A2A-4BCB-A70D-708BAEEEF252","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1499ee93976bbe1b92a0cefd5346694995312ffc","datavalue":{"value":"configuration spaces","type":"string"},"datatype":"string"},"type":"statement","id":"Q6539440$BC9B4108-4538-4055-A1B5-2F63E154E66F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"99edcf085d65da80623477299991b5a5d282b943","datavalue":{"value":"algebraic topology","type":"string"},"datatype":"string"},"type":"statement","id":"Q6539440$6EA7F676-345C-4D96-AF5A-12C2E5639C93","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2f3c4174a5d716f293c7527ce1cefdfb920908bc","datavalue":{"value":"motion planning","type":"string"},"datatype":"string"},"type":"statement","id":"Q6539440$193EDED7-D7D0-4E0B-8166-CECF2789CFFB","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":"Q6539440$22F98502-10E0-44B4-AE95-88B3F19F37E4","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bc5b3e74fc9d0afa5b5c5d6a8771d18f44fa2574","datavalue":{"value":{"entity-type":"item","numeric-id":6190499,"id":"Q6190499"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0b0d7cfaca2a27f606c8355e9ab20ff1d3cc8e7f","datavalue":{"value":{"amount":"+0.8759805560112","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":"Q6539440$6D4D7846-0179-4F5B-83B3-C673F870F6DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"48154313dcf957bbccc91a9e15a3aaeef34c6d1f","datavalue":{"value":{"entity-type":"item","numeric-id":4684321,"id":"Q4684321"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"074787c298fa00d447914aa59ec28426cab6e525","datavalue":{"value":{"amount":"+0.815255343914032","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":"Q6539440$395629C1-7CA6-4593-9243-5D98E5A9745F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"247467b22aec457a6f7cac3f0e97cd9c5ff879cf","datavalue":{"value":{"entity-type":"item","numeric-id":5138965,"id":"Q5138965"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"17414d21eca3dcbb42ea025048517ca660b60e34","datavalue":{"value":{"amount":"+0.803516685962677","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":"Q6539440$2A08C267-781E-4BEC-8FF1-FDFB5A4755C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"28856e271cc3d58f24780d746684390552cdd6c8","datavalue":{"value":{"entity-type":"item","numeric-id":4657428,"id":"Q4657428"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6c42b10cb2fedb088dc131de8889b31e03302eff","datavalue":{"value":{"amount":"+0.7942636013031006","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":"Q6539440$51970D7F-1303-4F40-8385-2FE38532A6DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2aff6a34dec964d41d562c84afa8bbc2a228e00a","datavalue":{"value":{"entity-type":"item","numeric-id":6641599,"id":"Q6641599"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"731533de2e65720a8da67de560a4f640208e9e3e","datavalue":{"value":{"amount":"+0.7903098464012146","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":"Q6539440$74CFE1BD-9A62-4570-8306-ED46397BB97E","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Collision-free motion planning algorithm in a Y-graph","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Collision-free_motion_planning_algorithm_in_a_Y-graph"}}}}}