{"entities":{"Q884818":{"pageid":886666,"ns":120,"title":"Item:Q884818","lastrevid":65089821,"modified":"2026-04-12T00:14:49Z","type":"item","id":"Q884818","labels":{"en":{"language":"en","value":"Real-time motion planning for multibody systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5162156"}},"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":"Q884818$DE6A5A2B-F187-4A14-A82C-4C0EF3057401","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"ba9a239aba3675596c34d7118d8b14a7d93fd9d2","datavalue":{"value":{"text":"Real-time motion planning for multibody systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q884818$F8CFE2ED-1AA4-49F0-B4E2-7221ADFCF926","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"7b9c1b190a26d04351f47b019f0b3c5a1f7687e9","datavalue":{"value":"1138.70003","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q884818$957AF958-E0C6-4649-8E79-774A41EE77F1","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c6e0710309660cbb165558072df8a0d8d5d3b737","datavalue":{"value":{"entity-type":"item","numeric-id":884817,"id":"Q884817"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$75BD6DED-701C-4D76-8461-13DEFDB9245B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"18dcbf7456c829710ba2e74afb07b0a89c5ab8e2","datavalue":{"value":{"entity-type":"item","numeric-id":510147,"id":"Q510147"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$717E576C-DD63-4F0F-BF5D-83ADB17ACEAF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d1b8aff014d10d056e5d81b9041f157d4b163816","datavalue":{"value":{"entity-type":"item","numeric-id":171973,"id":"Q171973"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$8DD8B7CF-8E9A-4E05-BCBE-8C195C8D6F31","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"adaede4d30d80731f86904b0d235817d0564cc04","datavalue":{"value":{"entity-type":"item","numeric-id":174757,"id":"Q174757"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$CD125814-3C40-4650-B5F0-9D0437CFFCDB","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"d81384269237f7c171ce9e25726671d8695c125f","datavalue":{"value":{"time":"+2007-06-07T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q884818$BDFF402E-EBB4-434B-8930-E90A6667F5B3","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"53b71bd65d6a4dd0dba5dae1fe54746b9bdd1051","datavalue":{"value":"70E55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q884818$D1B94A2A-52B6-4A12-9F4A-A5020371C227","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5666730139cd54a76def570b360d5dca402099e8","datavalue":{"value":"70-08","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q884818$8D9B0A9C-93FC-4B56-AA6C-74E364A04D83","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a04f63e1983877e66510b74458e5cb441b6cd3f9","datavalue":{"value":"5162156","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q884818$2E651AC8-20AC-4C39-92B9-5C83E0DA8AA2","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6f68df0fe7888f01be7f393a56f76b4a00707623","datavalue":{"value":"Optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q884818$500DF273-3315-4940-A4E3-68CEA597FD85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a7e164cda9f2aaddd18cd4e1eab843c3e19ebc72","datavalue":{"value":"Penalty formulation","type":"string"},"datatype":"string"},"type":"statement","id":"Q884818$83A37D52-596E-425E-868D-C834EC43017D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"19fa163078e6aba4ca84a0cee85767b7a972a3eb","datavalue":{"value":"Newton method","type":"string"},"datatype":"string"},"type":"statement","id":"Q884818$813AC8D3-EDBF-451D-97CB-4107DBD56556","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e07e0f281849ac9652b5dc4ddff6d1fcab2b8353","datavalue":{"value":"Broyden update","type":"string"},"datatype":"string"},"type":"statement","id":"Q884818$68AB39C3-E3A0-4921-AE02-3CD40383F0AA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2160da97b6ad909495313bb54b610d9c90fc0d2c","datavalue":{"value":"Real-time","type":"string"},"datatype":"string"},"type":"statement","id":"Q884818$AEA7B0C9-5DC5-4B92-884A-4C55FBEFC3C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"524acda05235ba0512c949e720f4f2e0456d112f","datavalue":{"value":"Multibody","type":"string"},"datatype":"string"},"type":"statement","id":"Q884818$73AF7DF1-7180-4AE3-8C36-B4AE7A8475FB","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"2c98dfd63fb0be3d9c16e17074fbcbe5064438e9","datavalue":{"value":{"entity-type":"item","numeric-id":16958,"id":"Q16958"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$A6F4E263-67EE-47C8-AC3A-477F866DEE9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1463","hash":"35e5925f2c7699e8ffbae9d5de65abdd658fa95f","datavalue":{"value":{"entity-type":"item","numeric-id":20070,"id":"Q20070"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$992B2C97-C004-412B-AE23-FA40E5466DA3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1463","hash":"6887b05d142419a3ba621d3ac3ea9b72eea7318a","datavalue":{"value":{"entity-type":"item","numeric-id":30613,"id":"Q30613"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$78D48308-1186-4DDE-96D7-4F2BA13FAFB9","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":"Q884818$83D7800B-C102-4737-9BB8-1E1B3C241B46","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"21cdfe592f36da6a52271023dfc07eed71d8a02a","datavalue":{"value":"https://doi.org/10.1007/s11044-007-9037-7","type":"string"},"datatype":"url"},"type":"statement","id":"Q884818$19D6AC05-A51C-456E-8D93-46210AC557A0","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"e94121e4c13f386980c8a6ebe286435cbb4f059b","datavalue":{"value":"W1522741398","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q884818$AA848FFE-381A-4483-9BAB-A9F313A898FD","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"e9e91fa6f729e238f7b280b33cc9e6e62269802b","datavalue":{"value":{"entity-type":"item","numeric-id":2492059,"id":"Q2492059"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$093CEBA4-0F20-44F5-896D-ACDC3ABF7A8F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c8628c79f83f43613226265cf315cdad6be655c6","datavalue":{"value":{"entity-type":"item","numeric-id":2724374,"id":"Q2724374"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$4A161871-E10A-4DA1-BAB1-61F6AF01D634","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3285b96530091811f282817356281563da991bd2","datavalue":{"value":{"entity-type":"item","numeric-id":2459206,"id":"Q2459206"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$2BFA397D-8E0C-4AD5-8AF8-85B78A43F388","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a7b530b405242e86676da7a2afa59d7df2fd9eef","datavalue":{"value":{"entity-type":"item","numeric-id":684785,"id":"Q684785"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$0AE85F1E-1CFD-451D-9CEF-F77FEF55D9B2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ddb9a0277a1138b4d176f1924e73e57e58736104","datavalue":{"value":{"entity-type":"item","numeric-id":3623391,"id":"Q3623391"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$149CA1EA-6E5D-49BA-9B55-94E2673AD6E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ab8b62aec62f82faac28a69d52a9226978c35bf9","datavalue":{"value":{"entity-type":"item","numeric-id":556658,"id":"Q556658"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$E1DB2EBA-9115-4C9B-8289-E86FD15E9569","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1b1bfcee8387196d4d6eabe3df60654a60076973","datavalue":{"value":{"entity-type":"item","numeric-id":2570093,"id":"Q2570093"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$ADD50315-B5A1-4376-8704-06A7735D8C12","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5ba6c7736aa92c53ed53ec30b1c93fe898584b59","datavalue":{"value":{"entity-type":"item","numeric-id":4868581,"id":"Q4868581"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$4719EBE5-713D-4723-9C13-1719EE4EFE0B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"23887844a6b8087cd8cc913aec81c84a0f67c469","datavalue":{"value":{"entity-type":"item","numeric-id":3430648,"id":"Q3430648"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$52836D1A-43E0-49C5-98AE-D4F37C2E91C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c46d77252ea06f9227352f36ee8ba90c45c70d70","datavalue":{"value":{"entity-type":"item","numeric-id":4255577,"id":"Q4255577"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$9BC91415-DA9E-4C2B-9AD9-91CDD889203D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d903c2565d51f545f8c226a2810b1116ed0285c","datavalue":{"value":{"entity-type":"item","numeric-id":1290627,"id":"Q1290627"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$02875CAC-9A28-4466-97D9-13B78391B62A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3127e93f802388598e0a7df38e4d17c1b95f3061","datavalue":{"value":{"entity-type":"item","numeric-id":5700319,"id":"Q5700319"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$8E43C5E4-24E4-4B1C-AEB9-B07C6B214F2F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f148e57ce2524f93c97b49674a86b446dd62cfc","datavalue":{"value":{"entity-type":"item","numeric-id":3675422,"id":"Q3675422"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$AFE4DBB6-213C-40DC-9209-96C57568585F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"62d23a1a58aaa21167e50485336de778db68f42f","datavalue":{"value":{"entity-type":"item","numeric-id":1896577,"id":"Q1896577"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$DC6A1883-3999-4676-97B6-C0731F0BA77C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dd9891d6183d057948a26b632999104342bc01d3","datavalue":{"value":{"entity-type":"item","numeric-id":815995,"id":"Q815995"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$F669F3F3-CCC8-4D43-8E97-AE7443430840","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e188de35a9521f96fd39c3d213efde43232fa5de","datavalue":{"value":{"entity-type":"item","numeric-id":4818644,"id":"Q4818644"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$24DA05D8-6A29-437A-8B9E-88C3EBEFE90C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e58757ffd5d2c1f204d93afbbd5e487044ef0f31","datavalue":{"value":{"entity-type":"item","numeric-id":4178411,"id":"Q4178411"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$0B5E2762-A496-4B1C-8528-C4009A779541","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"685a9360509345379611007555cc5da584fc879f","datavalue":{"value":{"entity-type":"item","numeric-id":4725638,"id":"Q4725638"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$4165CAC2-98AD-4693-887D-BF3BE7FECF06","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"55c6bb00968fb676b8b7661168a9afe919043dbd","datavalue":{"value":{"entity-type":"item","numeric-id":4814485,"id":"Q4814485"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$07F02F6D-78B2-4B57-AD10-C59DF0D34DC1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"12fcbfb2672ff9cc89d028e6b0e494fa4ee661dc","datavalue":{"value":{"entity-type":"item","numeric-id":3124018,"id":"Q3124018"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$D31B09DD-6C66-4622-B488-06F9ECCE929C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ef3aa4f739bb1bd285fb7b19b729612ef8dd3e7b","datavalue":{"value":{"entity-type":"item","numeric-id":3139305,"id":"Q3139305"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$441FAFF5-2ABC-42FD-BAA9-03ED70DC85ED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3fc8f549a3ee6c5cee6f30db2d011a01aef6f686","datavalue":{"value":{"entity-type":"item","numeric-id":3664301,"id":"Q3664301"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$BA5D0741-9499-40A9-99C2-1308C118932F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f6698c726cd3c9be29d45750ddecdc0e34e2cac7","datavalue":{"value":{"entity-type":"item","numeric-id":3490858,"id":"Q3490858"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$22C01E08-BD17-43F5-B3E0-535A9CDC606C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0af92d431b676b0c798716f664be38bfa1d867bf","datavalue":{"value":{"entity-type":"item","numeric-id":2780560,"id":"Q2780560"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$A28F8BC4-909E-4FD7-A5EC-968F446AA456","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b46231835b96630abb8a75872050b79df5334598","datavalue":{"value":{"entity-type":"item","numeric-id":4768564,"id":"Q4768564"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$4B241536-D324-4FE0-90A0-196D0351AD90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"564a34ae2a3ac283af773578b54f9706d3ebaca5","datavalue":{"value":{"entity-type":"item","numeric-id":3900928,"id":"Q3900928"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q884818$476BCFB5-BF63-4883-8D00-7E3D6062BDC3","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"335a0e92affe535deeebe12fa945962df9148f74","datavalue":{"value":"10.1007/S11044-007-9037-7","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q884818$1BFCDD27-2E94-48B6-AF15-A8D1E466F046","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c59b368f46b931feda40e6eb8a101a735ac3f923","datavalue":{"value":{"entity-type":"item","numeric-id":4432802,"id":"Q4432802"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"659d6f663e16dd104d75f8cb37990e272088bf5e","datavalue":{"value":{"amount":"+0.7385745048522949","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":"Q884818$1B29E360-9773-4C87-AEBA-220DB48BB12D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"35f7561db85c4791a5df051107c829014013cd49","datavalue":{"value":{"entity-type":"item","numeric-id":2492059,"id":"Q2492059"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6bd99fe119b7cbfdce065f3d41ba48579cf33b0c","datavalue":{"value":{"amount":"+0.7298224568367004","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":"Q884818$0DC3B362-BBFD-403E-93B7-A35985C9E833","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"015ad7a8b4873475012a42fc9adf6d9eb26a8099","datavalue":{"value":{"entity-type":"item","numeric-id":411690,"id":"Q411690"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"40bf7d1e228e87176e8960f950aea26a50ea3068","datavalue":{"value":{"amount":"+0.7266736030578613","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":"Q884818$6E256E70-240D-4BC4-93F2-23E004AD16C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9fc60ef3d3d2569f6b7083ebb3cc70a3dc9e081a","datavalue":{"value":{"entity-type":"item","numeric-id":3830113,"id":"Q3830113"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"432263d39979cbc692bb3cfb41149f5255a35f1e","datavalue":{"value":{"amount":"+0.7255115509033203","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":"Q884818$51DB1E42-CC68-4C21-974A-5A0D8B7BE157","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ab4b4aca951868a8b6e4a13b84aef1b9535992b2","datavalue":{"value":{"entity-type":"item","numeric-id":5192472,"id":"Q5192472"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dc260a4553d77070b47a5f48bee2cd2b747673b6","datavalue":{"value":{"amount":"+0.7242167592048645","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q884818$CB06BCB3-80BE-4036-A8BC-F614602032E3","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Real-time motion planning for multibody systems","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Real-time_motion_planning_for_multibody_systems"}}}}}