{"entities":{"Q6569403":{"pageid":14180558,"ns":120,"title":"Item:Q6569403","lastrevid":55705165,"modified":"2026-02-17T21:22:13Z","type":"item","id":"Q6569403","labels":{"en":{"language":"en","value":"Safe region multi-agent formation control with velocity tracking"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7878486"}},"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":"Q6569403$61D1EF1F-7ECE-4F9E-8961-D19AD24235BF","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"275105aa437b2d6f5ae47ab7c7405c869b2ae2e4","datavalue":{"value":{"text":"Safe region multi-agent formation control with velocity tracking","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6569403$3F607930-5A45-4A65-87F7-2557F1F7AECF","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"f90dcaa6a457962137e7168a98688f246d579cab","datavalue":{"value":"1545.93038","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6569403$9AAA86C5-B0B3-459E-BEC3-016320C857E5","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"4932dd48ca0d871d9da79217c6bc8042084a87d1","datavalue":{"value":{"entity-type":"item","numeric-id":6569402,"id":"Q6569402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$C3CF3515-1DF2-4D22-BE32-F3533A3A4DA1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"0332b36e940d4dc86260f33e32c80ec2de929c67","datavalue":{"value":{"entity-type":"item","numeric-id":330300,"id":"Q330300"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$38BA74DB-FC6C-46CC-AFAA-42F680BD775D","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b1ed7a090d8f1d0a3795177bace50e8f939f7c97","datavalue":{"value":{"entity-type":"item","numeric-id":196914,"id":"Q196914"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$76420C15-DA43-4FC4-B1F2-5C9B90A7F30B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"d6dbdcb57bb174aaf917ada2dc62add35177f721","datavalue":{"value":{"time":"+2024-07-09T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6569403$2CBFDE2E-B4A6-4249-98A7-82131B106144","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"087647ba2abb2bab4ed9f998c2f5e73922e112f3","datavalue":{"value":"93A16","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6569403$781DB57D-7F41-40B9-925A-C9CF2A720DF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"1bcfd8a147b9234ab18f11b7435125332c54d836","datavalue":{"value":"93D50","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6569403$80CE6093-DEE4-4457-8EA9-E50692AA9E80","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"ba9cb1d3af150bf700c2880165fb6dbb8b78ccfb","datavalue":{"value":"7878486","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6569403$95106912-FF5C-4685-BE63-A5FE37D21627","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"95e48716f7c9c49b18f034cd03a25b8fa61f6719","datavalue":{"value":"multi-agent system","type":"string"},"datatype":"string"},"type":"statement","id":"Q6569403$0EE98E44-632D-4FD6-8466-0564F40D306B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9a65dade00f13fa27a18530b615cf4b975c18ec0","datavalue":{"value":"formation control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6569403$EB4A5BCF-40B8-45AF-AA42-81DEE2024B87","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d584e359576a00f85def0b98465ac7707c1c7959","datavalue":{"value":"safety","type":"string"},"datatype":"string"},"type":"statement","id":"Q6569403$41F6EB28-97B9-41C6-AD13-6BF20444D9A6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"79a8123e7a0b796874785ed57aca2abe77b15efd","datavalue":{"value":"consensus","type":"string"},"datatype":"string"},"type":"statement","id":"Q6569403$5120AC52-0338-4D37-9BF5-A1C6AEC76380","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"35e40ca1b29f86cea96dc5f8832029b71eed88c8","datavalue":{"value":"control barrier functions","type":"string"},"datatype":"string"},"type":"statement","id":"Q6569403$C567F9A1-92BF-4B5F-A76C-8105D3BBF38E","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":"Q6569403$E0164F2C-6AAA-4E2D-B652-D5D017E0B051","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"f6dfc0de667d969da59e471c2dcae220f3983be2","datavalue":{"value":{"entity-type":"item","numeric-id":3053995,"id":"Q3053995"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$56CC040E-56B5-47E8-AD1D-19EE160A2DDB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5122771bc616d5607972a0384060129e2ff4b67c","datavalue":{"value":{"entity-type":"item","numeric-id":2409466,"id":"Q2409466"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$52B6EFF6-09EB-4714-902E-435B09922178","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6c9a8210103ff6273cb1a0289b882871e8e72d45","datavalue":{"value":{"entity-type":"item","numeric-id":4560027,"id":"Q4560027"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$E47FE495-9661-4504-A901-C28B00FEA775","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6b944988656563e7a21820e84323986011c48fa6","datavalue":{"value":{"entity-type":"item","numeric-id":1697168,"id":"Q1697168"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$685E4869-E12A-420B-A987-4B8E37660E15","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"64abb133643914700647a6bcd652528efc95625b","datavalue":{"value":{"entity-type":"item","numeric-id":288915,"id":"Q288915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$65210BBC-C2F0-4C10-BA89-4C02A54AF04A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b15946e01e957c0b89496805b984a5db1ea4b9d9","datavalue":{"value":{"entity-type":"item","numeric-id":518324,"id":"Q518324"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$C2CC87EE-DC5F-4BB6-BB36-704F7437CE67","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cd63e69d4a2e7d4c4c81b8df6535980ba920fe60","datavalue":{"value":{"entity-type":"item","numeric-id":5300158,"id":"Q5300158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$B1603223-6B02-4C54-8205-AC07705BC804","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3d7c9e5df45ac8d9e2ca7dd7f22086bb2c0a1a87","datavalue":{"value":{"entity-type":"item","numeric-id":5273870,"id":"Q5273870"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$24443D3E-ACA6-46E9-839C-C2F3B3C3A588","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9abf68818dceb26a04d8434ded51639c582760ca","datavalue":{"value":{"entity-type":"item","numeric-id":2980328,"id":"Q2980328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$A2190771-DC55-4022-9EA7-C3B774386088","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"98c5afb4e8d287e7c8ed39a86863a7322bf10a47","datavalue":{"value":{"entity-type":"item","numeric-id":900659,"id":"Q900659"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$B63DC809-CF74-46BD-B2A2-5F52818E1C63","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8bc50c46cd639a8271baf6d61735171854a316f7","datavalue":{"value":{"entity-type":"item","numeric-id":962183,"id":"Q962183"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$CE54242B-671C-486D-B1B7-B8D0814D830C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"93119e3e093930b8b4ac8bfbf68d3a35ea7ec70e","datavalue":{"value":{"entity-type":"item","numeric-id":5092054,"id":"Q5092054"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$5CC0D833-4035-4D9F-AC83-23418E4F32CC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ff7dd5e1dcca412132c034257387bb044bd5c94b","datavalue":{"value":{"entity-type":"item","numeric-id":1049115,"id":"Q1049115"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$20AD991D-C2BB-4199-A760-1D07EF44F9C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4238974f7db0ca4f0a6563b144a30ecef3822873","datavalue":{"value":{"entity-type":"item","numeric-id":1737804,"id":"Q1737804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$A5B5720B-6BA7-464F-B0F9-81DBC4B11F6B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e5a87b64df3c63cd9da2eca11209b62825999e34","datavalue":{"value":{"entity-type":"item","numeric-id":2980487,"id":"Q2980487"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$73FE6CBD-FD53-44BB-BBFC-EF5CEBD839F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"41d9f05239352dd2e65601dff041362479a1df7c","datavalue":{"value":{"entity-type":"item","numeric-id":5348294,"id":"Q5348294"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$7FEFC22B-AEA6-4FDC-B071-986BA57C2DDF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"10548accadb7f3f8852756192c579257c0aa7cce","datavalue":{"value":{"entity-type":"item","numeric-id":5358450,"id":"Q5358450"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$F3EF5554-0103-4C0A-AF72-8E0D4F30C8A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f674ac112bd0088d65481769e15a7fd3af3954a8","datavalue":{"value":{"entity-type":"item","numeric-id":976195,"id":"Q976195"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$7C7C5D38-1F55-406B-BA7F-F09F41B33B4D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"944db1e61f53f2ffc08ba3f195068b0632170299","datavalue":{"value":{"entity-type":"item","numeric-id":2426592,"id":"Q2426592"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$2A79342B-3D5C-4A1E-A355-8A1748553155","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c46c3bf20501d7cbf60831e757c8440e0494b25f","datavalue":{"value":{"entity-type":"item","numeric-id":616982,"id":"Q616982"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$90DF45A5-FCBB-4C25-9109-94A30298F46F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"22ae3172423baf922137d55cac7777bf6398a125","datavalue":{"value":{"entity-type":"item","numeric-id":3267714,"id":"Q3267714"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6569403$66F128D1-2DEB-4CBC-BB2D-3C55D5A603E2","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"6060e065dd14b0f3081014155fce2f9ff97b0e35","datavalue":{"value":"10.1016/J.SYSCONLE.2024.105776","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6569403$BF0CC6B0-D2BA-4205-BFAC-75611901292A","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"68ff053c38ee8aa97d62e68c9f394e86931af4ca","datavalue":{"value":{"entity-type":"item","numeric-id":2155761,"id":"Q2155761"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1bde2aee5f1dd4707e8bf2f4a4d6b06abfdd3a95","datavalue":{"value":{"amount":"+0.7894515991210938","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":"Q6569403$4CFD03D0-5B60-467A-B2B2-2C0858C6F482","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"166a453ce491b0b575d8e41aeecf456fcf2d77a8","datavalue":{"value":{"entity-type":"item","numeric-id":2298282,"id":"Q2298282"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ccc4b31d139adf6d8116584c85164e4667813575","datavalue":{"value":{"amount":"+0.7676413059234619","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":"Q6569403$108EA793-1907-4812-A6B1-2AF0E08EC25F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"98ffd33da4867c0f0ca75860bd3cb26d925a9513","datavalue":{"value":{"entity-type":"item","numeric-id":6131462,"id":"Q6131462"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"50c924fffb161a6e39a2676c7e76dd66a10657ba","datavalue":{"value":{"amount":"+0.7665180563926697","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6569403$F8DD6FC4-B56F-4147-A981-3400DC5A2C14","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6825d2d613c7e51257b18528ab0d09a4ba5c164b","datavalue":{"value":{"entity-type":"item","numeric-id":3133017,"id":"Q3133017"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5ec8035717d7eef55635c5806b31d5f7711a1526","datavalue":{"value":{"amount":"+0.7641280293464661","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":"Q6569403$16FA9206-90B0-452E-B214-2579D130FA11","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ccf13ee98d734fee1106c7cc1e353046af10c353","datavalue":{"value":{"entity-type":"item","numeric-id":6545310,"id":"Q6545310"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5ca34054985dc19ed7994473a29ea00bdedf391c","datavalue":{"value":{"amount":"+0.761810839176178","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6569403$EECC2D8F-5114-431F-AAE4-75E39E2B7C10","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6569403","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6569403"}}}}}