{"entities":{"Q984737":{"pageid":986585,"ns":120,"title":"Item:Q984737","lastrevid":65770638,"modified":"2026-04-12T05:15:31Z","type":"item","id":"Q984737","labels":{"en":{"language":"en","value":"A nonlinear position and attitude observer on SE(3) using landmark measurements"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5757919"}},"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":"Q984737$36EE9A71-2053-4BEB-9F10-177F87C1E108","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b383b089659512317b9e29d3df0334ced5ae5f7b","datavalue":{"value":{"text":"A nonlinear position and attitude observer on SE(3) using landmark measurements","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q984737$38946D40-B309-45E2-AF20-07E0F182B3E1","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1eeaff3ef6004decd8e10c58e5a7e8fd7a258e3d","datavalue":{"value":"1222.93042","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$70116FF1-9589-490D-8E0E-61E3B4C5C7BE","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"9a7b575c0c650bf90db65170f6cc2890ff403e1a","datavalue":{"value":{"entity-type":"item","numeric-id":984735,"id":"Q984735"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$906D70F0-6534-4211-9E48-7E1DEEB9867D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7692c7bed8463e8716a530914eddc1d074aef798","datavalue":{"value":{"entity-type":"item","numeric-id":254698,"id":"Q254698"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$03C68159-5199-4992-A75C-1DA52B38B67B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d4727b1ef6231859184598c420683f3ab9c03f61","datavalue":{"value":{"entity-type":"item","numeric-id":540195,"id":"Q540195"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$52BBDB9E-23B9-4F05-B2C2-F9F64130159C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a0f9ba2e720022b9012ca2394ebc03fe232d177b","datavalue":{"value":{"entity-type":"item","numeric-id":349457,"id":"Q349457"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$64DC705E-FF94-4EA7-8E7D-4492E6035F83","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b1ed7a090d8f1d0a3795177bace50e8f939f7c97","datavalue":{"value":{"entity-type":"item","numeric-id":196914,"id":"Q196914"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$E28B08CC-F678-4D63-91EF-D8C03C821971","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"49725197d5403193e6793b874c212de8a1d5fa7b","datavalue":{"value":{"time":"+2010-07-20T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q984737$C038661E-7D18-4669-8B68-0EEB3E296198","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"fa31302a6315eb00d745d9c7dacf89c33763ee49","datavalue":{"value":"93B07","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$E2349CEA-CE2D-4C1C-B81D-08997E3C4A91","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b2650696ed3935a49b70cc972e8bc0c67a8cd2c3","datavalue":{"value":"93D05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$7C54E556-D4FD-4BD7-B85E-022F3B98787A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c4c39d960485a30c03d0629c92318a40487035c0","datavalue":{"value":"93D30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$71CD0DFE-325B-40E2-8C35-900F9DA93600","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7ae0a986d607d9b0c7df46eb597d9aa7ca19fc1f","datavalue":{"value":"93D20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$F3C0F78F-33AE-4C84-89BB-EBF335D36835","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$41331752-4D5E-439B-80DB-7A0801764A77","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a2cdac422ab89fae25fcc247d8b00284a5c25720","datavalue":{"value":"5757919","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$E5645315-8884-4411-B326-29FD15C5F0D8","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f6cbb85ae0760e72186a3f978cfe3abe95f35cb3","datavalue":{"value":"nonlinear observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q984737$92388393-8B9C-43FD-9896-559C306097E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1c32f28bcd3e331eb1b4e5986196aac83854b47b","datavalue":{"value":"Lyapunov stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q984737$58712AD1-8FBE-4BD0-95BA-01BAC562CA0B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"184643d48043a64d1a3e84f05d59bbea5f812aaf","datavalue":{"value":"bias filtering","type":"string"},"datatype":"string"},"type":"statement","id":"Q984737$B532F241-A8D7-47F0-A645-FE54F84864C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ab13e64bb35c4ebcad4b6d63025353255031cd3c","datavalue":{"value":"exponential convergence","type":"string"},"datatype":"string"},"type":"statement","id":"Q984737$1A211E55-A27B-439D-8D7D-DD2A60CAC421","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"95cf442dcbf317ef4f5a55fcc0753178e81d9cc5","datavalue":{"value":"linear time-varying systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q984737$AB8B0C92-80CC-4601-A6B8-8CF7989FA702","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":"Q984737$14ECA3CF-57A0-4C06-8278-5BD42A4D26B3","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"edce676f1a6f58c99a6e5cac9e51855a258be2f6","datavalue":{"value":"https://doi.org/10.1016/j.sysconle.2009.11.008","type":"string"},"datatype":"url"},"type":"statement","id":"Q984737$E5D9DE38-296E-41BB-8F1F-EE9B9A1784C7","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"7fa2e10b7a736ac1725906878635e75e759c5397","datavalue":{"value":"W2090347046","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$44C5D2F1-6556-4BD2-A701-18D605112C0E","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"91f0b934cdfaa2be762034429ff84c2acaeec206","datavalue":{"value":"Q59325568","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$FA46F2C6-C57C-4158-9A9F-E4C2BE68933E","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"898c5d047d87679a4d8fc34f2a2712c485ef6d21","datavalue":{"value":{"entity-type":"item","numeric-id":5958830,"id":"Q5958830"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$B4DA62FE-5E49-4B31-8728-3F710AD6FF58","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb462ff63161b0eae98a6c35320ab7ac24d444b0","datavalue":{"value":{"entity-type":"item","numeric-id":3155754,"id":"Q3155754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$5BAF208E-2678-46F6-B30D-B4473F63A241","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2df888aebd318ae3c384b5a6d5c097f5ee3fa66a","datavalue":{"value":{"entity-type":"item","numeric-id":3034906,"id":"Q3034906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$A87CA8F9-E897-4871-9AA5-842EECCB9CB7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e9667568437dbc45e408d4635f44c61e5e3e2282","datavalue":{"value":{"entity-type":"item","numeric-id":867452,"id":"Q867452"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$75CD608C-7C7F-411A-8624-83572EA95C9F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7f1a4b35293ad384fdfe9d15c01c84f69b462402","datavalue":{"value":{"entity-type":"item","numeric-id":4978703,"id":"Q4978703"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$845B2229-CDE6-4946-89D2-D8EF21515353","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1ef563a10410d347a3da6ade43b5d97ae9923598","datavalue":{"value":{"entity-type":"item","numeric-id":4974595,"id":"Q4974595"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$814001B7-3B4A-4416-9C1A-8A95778BF829","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"462ec44859ba188b5b872a5d953b18ad6c8928ab","datavalue":{"value":{"entity-type":"item","numeric-id":5273781,"id":"Q5273781"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$ECAF9CDC-0CE4-4EF8-B1BF-46AC5CD0B5C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cbc67c4c637e971ca4e9f71f53b6f9b8bcebd4a7","datavalue":{"value":{"entity-type":"item","numeric-id":5940853,"id":"Q5940853"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$43E209E0-CCF2-4897-8B0B-78BF48E9D175","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"981548e23dce98d141c989e3a6692cc0022b05b2","datavalue":{"value":{"entity-type":"item","numeric-id":3986822,"id":"Q3986822"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$5FE7EC67-EE5F-4F54-973C-FFE2F3542B99","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1062098a9d295c91a59d2d1310c4260276d84bd7","datavalue":{"value":{"entity-type":"item","numeric-id":5266691,"id":"Q5266691"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$29D4E48F-7E11-4620-AF7B-F1EF4C3E3437","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6a9337742a57d0528a5ada8c993dbf07ee6f2500","datavalue":{"value":{"entity-type":"item","numeric-id":4974234,"id":"Q4974234"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$1C2E7A1D-B688-4634-B2B6-6F040EED6C09","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"81cee9d928fd590615efaf52fb35975510fb9ac0","datavalue":{"value":{"entity-type":"item","numeric-id":5266930,"id":"Q5266930"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$EC4F471C-8D1D-4657-AD90-D5F8BD9FF465","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e1d9f72cdf060cbc7fc7b79e5044cf887a3759f4","datavalue":{"value":{"entity-type":"item","numeric-id":4974399,"id":"Q4974399"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$3B8DC4E3-06AB-4191-BD4D-977ED2B1E111","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0c64db73c27279f32c546b0c32b2be6818ac2c88","datavalue":{"value":{"entity-type":"item","numeric-id":953471,"id":"Q953471"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$1CA05DD5-DBFD-453F-B227-443467D76805","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e3f44c4598afcdcb0a693a8e624b1b880a185fbe","datavalue":{"value":{"entity-type":"item","numeric-id":1433067,"id":"Q1433067"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$62E37DB1-5A9F-4514-AC00-DCBD8BE76819","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c7c3b5ba38efb3ee0b0e4a46f3450103507deb2c","datavalue":{"value":{"entity-type":"item","numeric-id":963722,"id":"Q963722"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$459332DB-1EC3-48CA-9C04-446C2F9CE08D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9098e2316ca4101c02a089bfed81e424c25fdca0","datavalue":{"value":{"entity-type":"item","numeric-id":1608345,"id":"Q1608345"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$B2DC3755-58FC-4A08-9A21-8538D382787C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fcb61cd1a948f95439ee55b4599fe16ca59aed2","datavalue":{"value":{"entity-type":"item","numeric-id":4857368,"id":"Q4857368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$AE236FEB-C0AA-4B87-8021-2E182D9A34B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"350aa0d61f62afc2e63c4929aaea997b43b969b4","datavalue":{"value":{"entity-type":"item","numeric-id":3029380,"id":"Q3029380"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$2CDC33D4-8E6F-4BD7-A765-60264B24E8D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3339212bfb8ad0c2f88a64210c0fcf4ae0bb0c4f","datavalue":{"value":{"entity-type":"item","numeric-id":705178,"id":"Q705178"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$60B659A7-AA2B-4C03-AD8B-A78C0F7C85EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d819fb59f6e6df5b7acf867b3af5ec1e5a39a0ec","datavalue":{"value":{"entity-type":"item","numeric-id":4127879,"id":"Q4127879"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q984737$D5A38683-201C-49BB-8E78-709B7466E9D8","rank":"normal"}],"P1635":[{"mainsnak":{"snaktype":"value","property":"P1635","hash":"068bb39bdc844a947a26dc88407caac5d869406a","datavalue":{"value":"journals/scl/VasconcelosCSO10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$B6205346-76A6-4BA0-9BDB-19FC50E48E97","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b0f52cf032bff53dbb0a018cc039766e6680b522","datavalue":{"value":"10.1016/J.SYSCONLE.2009.11.008","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q984737$79EE1601-7262-4D56-9E59-2E93AAD0F45D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4cb83e0a0e8c33572f71f7783ff8ece6aa9f218c","datavalue":{"value":{"entity-type":"item","numeric-id":2664245,"id":"Q2664245"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0a9eaf320f5540a3e3808ec199e61b3a731344f8","datavalue":{"value":{"amount":"+0.8090013265609741","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":"Q984737$20C39EB2-1D66-463D-9482-85235B123C83","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a852d574f807605853f2c3b0b1f835fe4a67dd81","datavalue":{"value":{"entity-type":"item","numeric-id":2208564,"id":"Q2208564"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a601bf24d872f8dd3b01733784fb6cfabf4e6ef8","datavalue":{"value":{"amount":"+0.8054285645484924","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":"Q984737$710626DB-8E8D-485A-8210-9A1F8D756909","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"26ab2716c2abcd9db50211be9cc2b78e3d583217","datavalue":{"value":{"entity-type":"item","numeric-id":2682310,"id":"Q2682310"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c81ff80aaed2f137430644c28277afe453997a9c","datavalue":{"value":{"amount":"+0.784437358379364","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q984737$F19A1FE5-153D-4FDB-82CB-1B755CE0D2C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"48f085b06200fc281892bfa969c54625328066e5","datavalue":{"value":{"entity-type":"item","numeric-id":2327357,"id":"Q2327357"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"46f8e8e875ba281b7b7f2bfb1d21f3fde37d291b","datavalue":{"value":{"amount":"+0.778423011302948","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":"Q984737$F477BB82-79D6-4EDE-B5C1-0E631520328E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2bfa34e3723d1e5a17cb2c2073b74a305ce28c9f","datavalue":{"value":{"entity-type":"item","numeric-id":5215187,"id":"Q5215187"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a849f6c08707d4d9fde7d005d4161bcbf85d7d5e","datavalue":{"value":{"amount":"+0.7679272890090942","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":"Q984737$640D0DE8-A765-4B35-BCCF-4D5DD2FF41B7","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A nonlinear position and attitude observer on SE(3) using landmark measurements","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/A_nonlinear_position_and_attitude_observer_on_SE(3)_using_landmark_measurements"}}}}}