{"entities":{"Q954529":{"pageid":956377,"ns":120,"title":"Item:Q954529","lastrevid":65608626,"modified":"2026-04-12T03:46:20Z","type":"item","id":"Q954529","labels":{"en":{"language":"en","value":"Patrol mobile robots and chaotic trajectories"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5371796"}},"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":"Q954529$4EF5614A-4F14-4513-95B0-DEA81E2F316D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"95a9069a81d1a51cc0f6d757a17124d57afd00a2","datavalue":{"value":{"text":"Patrol mobile robots and chaotic trajectories","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q954529$ED19DE0E-07F1-4441-848B-41AC4F50724A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"f0f81e41d6116296ffdd7bde96b4bd531a2ccac7","datavalue":{"value":"1360.70012","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q954529$5C76B832-844A-47FF-9754-E22407A87DD4","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"4b00ffe01b3d5c7a2fb192f2a6e670f40a8618ac","datavalue":{"value":"10.1155/2007/61543","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q954529$6C020FDF-BDFB-4DBB-88E1-1118E48A0718","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"79385929c83719859058ff52c3708a76edfa93ec","datavalue":{"value":{"entity-type":"item","numeric-id":954528,"id":"Q954528"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q954529$CE7FC114-2D4F-40F7-BDA5-FFC53B518238","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"40130d2b7d49f45e6dc12c8d502ce1f1b50b4499","datavalue":{"value":{"entity-type":"item","numeric-id":705671,"id":"Q705671"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q954529$78BD671B-D21A-446F-84B6-977DD227D2D6","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q954529$5F3A38E1-C164-4A75-BBEE-27898BCC62EF","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"194c710085788a257e857094b6592ccaf90316e7","datavalue":{"value":{"time":"+2008-11-24T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q954529$F05EA61B-37A8-4E7E-B16D-2F51911A999D","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"8a36fe061fbaa10e4ac165f6f738ac732d3385ed","datavalue":{"value":"Summary: This paper presents a study of special trajectories attainment for mobile robots based on the dynamical features of chaotic systems. This method of trajectories construction is envisaged for missions for terrain exploration, with the specific purpose of search or patrol, where fast scanning of the robot workspace is required. We propose the imparting of chaotic motion behavior to the mobile robot by means of a planner of goal positions sequence based on an area-preserving chaotic map. As a consequence, the robot trajectories seem highly opportunistic and unpredictable for external observers, and the trajectories's characteristics ensure the quick scanning of the patrolling space. The kinematic modeling and the closed-loop control of the robot are described. The results and discussion of numerical simulations close the paper.","type":"string"},"datatype":"string"},"type":"statement","id":"Q954529$07EE72CD-55AC-4FC0-BFDD-B84716F7F643","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q954529$7E005384-659B-4E5B-96DF-7D7B7A06A0F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0b7ccfaf6d3442c68f28a69cd1caf5370aa1c3ea","datavalue":{"value":"37D45","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q954529$FD14DCAA-F438-458B-9673-DDFCAD45F52B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"8867c00eae21f67f4e36cfb923ae25879537bfb5","datavalue":{"value":"70K55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q954529$1330CC40-78DF-4FD0-8628-458AA512A95A","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"3ecc59ae10d241505b82e47a1365836b80a5b419","datavalue":{"value":"5371796","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q954529$D3F50CF5-60FF-4DAE-8C0B-CA68D9106F83","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":"Q954529$5994DE2B-BD11-49A3-B664-955948510558","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"ce8e58c308bb0bf6c1af4e8efebb73d11f03d9f2","datavalue":{"value":"https://doi.org/10.1155/2007/61543","type":"string"},"datatype":"url"},"type":"statement","id":"Q954529$E6D359B1-4D24-4B73-9F44-FD5116DB7E55","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"2e02535f5dcb867f0fe24254659c4fc5dc27d718","datavalue":{"value":"W2053637206","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q954529$9E6DB097-0FAC-4031-9012-A034B51E2F47","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"71f86173e373ccce720c7b10852834efd52f3cb7","datavalue":{"value":{"entity-type":"item","numeric-id":4419475,"id":"Q4419475"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q954529$B2BD5D6B-859D-467A-BF08-AA542044EAE8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fa4f7745ffc9f7be292e822fdfc95d0f9f7fad23","datavalue":{"value":{"entity-type":"item","numeric-id":1837004,"id":"Q1837004"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q954529$08A79233-46AF-4AE5-8FAD-37151C74099B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0e65dec17914c2ba197c85d3d06dda3123c9ca3f","datavalue":{"value":{"entity-type":"item","numeric-id":3628774,"id":"Q3628774"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q954529$6AACDD48-1301-4F2E-A08C-93B6FB55F5CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e21be8859097ac0c135191a3d0b5b0bbf584603b","datavalue":{"value":{"entity-type":"item","numeric-id":4031531,"id":"Q4031531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q954529$0997F75D-3F9D-41D7-ACC2-E66117CEB106","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c2393e97e64ee18f1cafb22397a643f4447eabc","datavalue":{"value":{"entity-type":"item","numeric-id":4003793,"id":"Q4003793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q954529$D7C6FFDE-699C-4780-A610-48DD610A05FC","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"d87a99ce8f6459595e296fc283c86c5c8f058979","datavalue":{"value":"Q126246357","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q954529$9A2DA07D-7A94-4B43-941D-C24B29D2B44F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"82e910f266afe6a4e244f5830a6d558c0054834c","datavalue":{"value":{"entity-type":"item","numeric-id":2089165,"id":"Q2089165"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ba5424dc539af596b3934b4bd7c8fed84f46f2db","datavalue":{"value":{"amount":"+0.86431956","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q954529$B5FC94F1-5BA4-4B22-B275-D7F715C1E7BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ed02a944dae08211e05bd6f11036597e92725f3c","datavalue":{"value":{"entity-type":"item","numeric-id":2140299,"id":"Q2140299"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"584e485c3424743a9c8d91e8dbbea7bbb6742481","datavalue":{"value":{"amount":"+0.86047506","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q954529$5B7A4DD0-11F4-4984-A092-A78F90EF5E84","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d5625ea9f12bf9bb1f0990f2919714608b98bbb2","datavalue":{"value":{"entity-type":"item","numeric-id":2300279,"id":"Q2300279"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e3417ad5a8a598a4518b4478118d5b44c71f03ac","datavalue":{"value":{"amount":"+0.85971355","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q954529$D148BB0B-62AC-44BD-A5B7-85CAFBA414D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fb35f474c27cbbd9e9f4e20e1d10921723c806fa","datavalue":{"value":{"entity-type":"item","numeric-id":6089051,"id":"Q6089051"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"50ac7fb1ee1684be6eb1bfa65e0db05d22115c66","datavalue":{"value":{"amount":"+0.8453056","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q954529$FEAA9863-3D4D-4E94-A8FF-652E8D1019B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5bec90c1ec732de01b8a600d2de619a7e7400c2a","datavalue":{"value":{"entity-type":"item","numeric-id":2980175,"id":"Q2980175"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"08972dd1e7c6f226cfd272760e8ecb0c60894acb","datavalue":{"value":{"amount":"+0.84372246","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q954529$0F7F149D-E094-4A9E-B3CA-7CA72EB5DEA5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1f573b1c985aa3e28db93a0d395810a1658cba99","datavalue":{"value":{"entity-type":"item","numeric-id":4374528,"id":"Q4374528"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"012c1a2bd2055f22d6f252d218b4f73d75949dbd","datavalue":{"value":{"amount":"+0.84327483","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q954529$4ABE79FF-7DEF-4A13-8BD9-4C5239422CFB","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Patrol mobile robots and chaotic trajectories","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Patrol_mobile_robots_and_chaotic_trajectories"}}}}}