{"entities":{"Q6579233":{"pageid":14190388,"ns":120,"title":"Item:Q6579233","lastrevid":95868761,"modified":"2026-06-05T09:55:10Z","type":"item","id":"Q6579233","labels":{"en":{"language":"en","value":"Distributed formation control with obstacle avoidance for multiple underactuated unmanned surface vehicles"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7887359"}},"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":"Q6579233$A4F3E673-B51C-4692-9D5F-66D325B40D07","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"37ee56e99473ed4c5d50417e77d9dd127b74d84f","datavalue":{"value":{"text":"Distributed formation control with obstacle avoidance for multiple underactuated unmanned surface vehicles","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6579233$214F69B1-ED68-4273-ADDF-E563DC7180D0","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"bfcc6a7408ead962016dc479cd8e4010789ef25e","datavalue":{"value":"1543.93271","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6579233$5CB60D5D-9744-4E3D-BEC5-D53E2736169E","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"de9d2119f1d27939a74c1b7c56c0f3a86c2d921f","datavalue":{"value":{"entity-type":"item","numeric-id":2680273,"id":"Q2680273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$E7E01194-8C5C-4632-BE1B-C10C71D169B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5e766fc1366eda57705321e95dc8075a6a386c7b","datavalue":{"value":{"entity-type":"item","numeric-id":1661771,"id":"Q1661771"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$91403EA0-8875-47FD-9E9C-5637E88633B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f0a4d860b1d1d77940914bab9b1ab0f38cd3f4cb","datavalue":{"value":{"entity-type":"item","numeric-id":2005395,"id":"Q2005395"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$C0C53241-2B82-4E79-8D7C-3A0164518BD1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6d7bc8eeda2534b5f22342d11779a22e6ac3483d","datavalue":{"value":{"entity-type":"item","numeric-id":328121,"id":"Q328121"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$F95A9056-6465-45C2-B951-45DCD207693B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"279202f7eaa569bde3559ba520dc38aef8d43136","datavalue":{"value":{"entity-type":"item","numeric-id":328123,"id":"Q328123"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$5B5CCD77-C440-4764-8BCE-C0927EBA8A00","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$6A150F81-C776-4931-BE4A-3E6AA2D206DE","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"fcb6e680465fc2d1be3c223775554b4f96f22955","datavalue":{"value":{"time":"+2024-07-25T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6579233$31F35A08-4EC7-40DD-A85D-EB3FC294564A","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6579233$36A3B876-5574-4D4B-9B7A-0E2D0E99A082","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b2650696ed3935a49b70cc972e8bc0c67a8cd2c3","datavalue":{"value":"93D05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6579233$913A7674-845A-4D37-872B-76237E751F79","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"71b7c4c1ce980eade71a37a8ca9045efde652b6d","datavalue":{"value":"7887359","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6579233$D07B8391-B770-4CBF-855B-8E05DDCFE0C1","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0b258127b85ae5db185af40b22e7fd407816187b","datavalue":{"value":"underactuated unmanned surface vehicle","type":"string"},"datatype":"string"},"type":"statement","id":"Q6579233$2D3ADB6A-0D22-4322-8D92-741EA9CF2625","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4b48e7cfb3d72c039bc4f8420fbb7332a16ece92","datavalue":{"value":"distributed formation control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6579233$DF42E485-BB07-4BB8-94EF-119D5F070DD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9e1b98c64c0dfc3bec7cff093f965649ff45b97d","datavalue":{"value":"obstacle avoidance","type":"string"},"datatype":"string"},"type":"statement","id":"Q6579233$4E565D64-6113-464D-9D52-356ED2E9292D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"34b5c4d466500aa574c3dc1f811ea998e1d40e98","datavalue":{"value":"transverse function","type":"string"},"datatype":"string"},"type":"statement","id":"Q6579233$64A350DE-94F3-48A9-971B-50839D045BB6","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":"Q6579233$3FE296A5-2202-40A4-9114-0C8BC6B855AD","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"24787a42d9c06501a6e47cbaaa01f7e3997579e8","datavalue":{"value":{"entity-type":"item","numeric-id":5503626,"id":"Q5503626"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$53FF20A3-238A-492E-9C21-4777DADEF1D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3bd1b5158a92de299109e415c212d833b5b1333","datavalue":{"value":{"entity-type":"item","numeric-id":3450576,"id":"Q3450576"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$DD87ED13-913E-472D-9B7D-C299E69CA1B7","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":"Q6579233$102A9782-97D4-4BF2-8A99-E81F6939B337","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cf1ad9863e480c0b413f4aa54f1a178b4e1f34c1","datavalue":{"value":{"entity-type":"item","numeric-id":5211210,"id":"Q5211210"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$1D55DF92-0C9F-4132-A48B-3146A4C0218F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3e6c2c942333f6ddd821cf7f223b8751138b9219","datavalue":{"value":{"entity-type":"item","numeric-id":6052511,"id":"Q6052511"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$9C37418F-A242-4B7C-8C4D-81118F58EC51","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"72962891ea70532e296ec0ffd6089c58beb5f3a6","datavalue":{"value":{"entity-type":"item","numeric-id":2440731,"id":"Q2440731"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$47234957-E09E-4D18-B5B3-8AF656927332","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0fc9c16c0ecdf06f757827ab8762b2e6704a734a","datavalue":{"value":{"entity-type":"item","numeric-id":2680274,"id":"Q2680274"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$2BBBC4E3-A319-4468-9ED1-FDA5C4C1D806","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6cf9670b05682e4b12ba514207657009b00c9736","datavalue":{"value":{"entity-type":"item","numeric-id":1691202,"id":"Q1691202"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$A52843FC-FAED-4F70-A240-5269F54F21B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f06cef6787c18c7da0600aa7a674a031abd9f1a3","datavalue":{"value":{"entity-type":"item","numeric-id":3132966,"id":"Q3132966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$75D2B3C8-8AE6-45B5-A69A-55A40D699A69","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"53f08820b442a5398dee56ca87776fb554d9e42f","datavalue":{"value":{"entity-type":"item","numeric-id":2315483,"id":"Q2315483"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$3418BC10-58F0-4149-AA4D-6CFA307D8FED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b4dc9a371df5d491146477584e6229979c5b2593","datavalue":{"value":{"entity-type":"item","numeric-id":4324933,"id":"Q4324933"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$1BF3E7CC-ED11-4EC6-B0FC-B0D56290E9C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$8F1D71AC-7ED6-45C1-A8BB-DAA08239A46E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0031518868cc7f0d4164ef17389a52331552fa6f","datavalue":{"value":{"entity-type":"item","numeric-id":5266733,"id":"Q5266733"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$1D6842D5-49A0-4D6C-9531-C3872F6589DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c69187e7c47caa46fa3b4a31104d532dd247a604","datavalue":{"value":{"entity-type":"item","numeric-id":6578917,"id":"Q6578917"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6579233$F853C8B0-F5EA-4DBC-955B-A67BC5DA2804","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b793fa6d4cf1599bdcfce47d86b389ed63681579","datavalue":{"value":"10.1016/J.JFRANKLIN.2024.107008","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6579233$5861A506-15CA-4636-8522-4F6986D101E5","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"18b7f63f0afb036df60e2ca2275b391a778d60b7","datavalue":{"value":{"entity-type":"item","numeric-id":6578917,"id":"Q6578917"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"033a84b6283afe4a137d9e41460771869d0e4694","datavalue":{"value":{"amount":"+0.8826959133148193","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6579233$D2A7B26B-FAFF-4D29-98FD-8F26DED528FB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3a4299a2c604c978144f0f7960b184aeac6f5960","datavalue":{"value":{"entity-type":"item","numeric-id":2165429,"id":"Q2165429"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"38f675b555b24eb117c110b390518341592725eb","datavalue":{"value":{"amount":"+0.83747798204422","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":"Q6579233$FD15B1E1-A6BA-48CC-9A24-FBC844F254C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"86f0d78d559f50263ef76d36fc9d0c7e96a43d84","datavalue":{"value":{"entity-type":"item","numeric-id":2664229,"id":"Q2664229"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9c3c18ea27d0531fa7bf001535e9879285b39c18","datavalue":{"value":{"amount":"+0.8339166045188904","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":"Q6579233$99E2E488-6A5A-46C6-85E2-737EFBD36E28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"aea27256dc343aafa4540e1867cf599ae8af8c78","datavalue":{"value":{"entity-type":"item","numeric-id":2327779,"id":"Q2327779"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e3f72a905cdcef44996c999e9d1bfbf8dfaefaa6","datavalue":{"value":{"amount":"+0.8320126533508301","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6579233$D0555182-E6AF-40AD-BE7D-62078741003C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e9c1534090d8a3fdf30451adcc3040bbbc25d7d6","datavalue":{"value":{"entity-type":"item","numeric-id":2155736,"id":"Q2155736"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f3effff2bc75bdf476760211b071faee0f9e68c1","datavalue":{"value":{"amount":"+0.8291001915931702","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":"Q6579233$8A4A5626-36E9-4774-8961-6EEA1917FD74","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Distributed formation control with obstacle avoidance for multiple underactuated unmanned surface vehicles","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Distributed_formation_control_with_obstacle_avoidance_for_multiple_underactuated_unmanned_surface_vehicles"}}}}}