{"id":"https://openalex.org/W4383611649","doi":"https://doi.org/10.23919/ecc57647.2023.10178258","title":"Experiments on the control of differential game of target defense","display_name":"Experiments on the control of differential game of target defense","publication_year":2023,"publication_date":"2023-06-13","ids":{"openalex":"https://openalex.org/W4383611649","doi":"https://doi.org/10.23919/ecc57647.2023.10178258"},"language":"en","primary_location":{"id":"doi:10.23919/ecc57647.2023.10178258","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/ecc57647.2023.10178258","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04153630v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024061126","display_name":"Mukhtar Sani","orcid":"https://orcid.org/0000-0001-5975-1755"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210124956","display_name":"Grenoble Images Parole Signal Automatique","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Mukhtar Sani","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","GIPSA-COPERNIC - GIPSA - COntrol, PErception, Robots, navigation and Intelligent Computing (GIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, F-38402 SAINT MARTIN D'HERES CEDEX  - France)"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"GIPSA-COPERNIC - GIPSA - COntrol, PErception, Robots, navigation and Intelligent Computing (GIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, F-38402 SAINT MARTIN D'HERES CEDEX  - France)","institution_ids":["https://openalex.org/I4210124956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090818308","display_name":"Ahmad Hably","orcid":"https://orcid.org/0000-0001-6220-3856"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210124956","display_name":"Grenoble Images Parole Signal Automatique","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmad Hably","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","GIPSA-COPERNIC - GIPSA - COntrol, PErception, Robots, navigation and Intelligent Computing (GIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, F-38402 SAINT MARTIN D'HERES CEDEX  - France)"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"GIPSA-COPERNIC - GIPSA - COntrol, PErception, Robots, navigation and Intelligent Computing (GIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, F-38402 SAINT MARTIN D'HERES CEDEX  - France)","institution_ids":["https://openalex.org/I4210124956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066843673","display_name":"Bogdan Robu","orcid":"https://orcid.org/0000-0001-7568-007X"},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210124956","display_name":"Grenoble Images Parole Signal Automatique","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bogdan Robu","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","GIPSA-MODUS - GIPSA - Modelling and Optimal Decision for Uncertain Systems (GIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, F-38402 SAINT MARTIN D'HERES CEDEX  - France)"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"GIPSA-MODUS - GIPSA - Modelling and Optimal Decision for Uncertain Systems (GIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, F-38402 SAINT MARTIN D'HERES CEDEX  - France)","institution_ids":["https://openalex.org/I4210124956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013190803","display_name":"Jonathan Dumon","orcid":"https://orcid.org/0000-0002-3182-784X"},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210124956","display_name":"Grenoble Images Parole Signal Automatique","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jonathan Dumon","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","GIPSA-Services - GIPSA-Services (GIPSA-lab, \r\n11 rue des Math\u00e9matiques, \r\nGrenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"GIPSA-Services - GIPSA-Services (GIPSA-lab, \r\n11 rue des Math\u00e9matiques, \r\nGrenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","institution_ids":["https://openalex.org/I4210124956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032364987","display_name":"Nacim Meslem","orcid":"https://orcid.org/0000-0002-0805-5503"},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I4210124956","display_name":"Grenoble Images Parole Signal Automatique","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nacim Meslem","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","GIPSA-MODUS - GIPSA - Modelling and Optimal Decision for Uncertain Systems (GIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, F-38402 SAINT MARTIN D'HERES CEDEX  - France)"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS, Grenoble-INP, GIPSA-lab,Grenoble,France,F-38000","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"GIPSA-MODUS - GIPSA - Modelling and Optimal Decision for Uncertain Systems (GIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, F-38402 SAINT MARTIN D'HERES CEDEX  - France)","institution_ids":["https://openalex.org/I4210124956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5024061126"],"corresponding_institution_ids":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006"],"apc_list":null,"apc_paid":null,"fwci":2.3013,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.90797506,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9754999876022339,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9598000049591064,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/differential-game","display_name":"Differential game","score":0.7457683086395264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7257410883903503},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.5904754996299744},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5045346021652222},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4862340986728668},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4851701855659485},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.47635412216186523},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4703046679496765},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.44112348556518555},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33849984407424927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33608758449554443},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14567694067955017},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10560452938079834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09114867448806763},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.08052748441696167}],"concepts":[{"id":"https://openalex.org/C2779006483","wikidata":"https://www.wikidata.org/wiki/Q1973196","display_name":"Differential game","level":2,"score":0.7457683086395264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7257410883903503},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.5904754996299744},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5045346021652222},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4862340986728668},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4851701855659485},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.47635412216186523},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4703046679496765},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.44112348556518555},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33849984407424927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33608758449554443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14567694067955017},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10560452938079834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09114867448806763},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.08052748441696167},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc57647.2023.10178258","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/ecc57647.2023.10178258","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04153630v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04153630","pdf_url":"https://hal.science/hal-04153630v1/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ecc23.euca-ecc.org/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04153630v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04153630","pdf_url":"https://hal.science/hal-04153630v1/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ecc23.euca-ecc.org/","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4383611649.pdf","grobid_xml":"https://content.openalex.org/works/W4383611649.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W1581842928","https://openalex.org/W1975236902","https://openalex.org/W2028678875","https://openalex.org/W2072171694","https://openalex.org/W2608634483","https://openalex.org/W2743211764","https://openalex.org/W2767257775","https://openalex.org/W2794073868","https://openalex.org/W2962896691","https://openalex.org/W3035045431","https://openalex.org/W3082038112","https://openalex.org/W3194185973","https://openalex.org/W4200633647","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W2056060483","https://openalex.org/W2055233249","https://openalex.org/W2943251607","https://openalex.org/W2077643751","https://openalex.org/W1990079087","https://openalex.org/W963545523","https://openalex.org/W2060165215","https://openalex.org/W2601906167","https://openalex.org/W3144554261","https://openalex.org/W2801573479"],"abstract_inverted_index":{"This":[0,39],"paper":[1,40],"evaluates":[2],"experimentally":[3],"a":[4,9,48,62,72,89],"novel":[5],"strategy":[6,31],"for":[7],"solving":[8],"variant":[10],"of":[11,15,21,82],"the":[12,19,56,80,83],"differential":[13],"game":[14,53],"target":[16],"defense":[17],"in":[18],"presence":[20],"obstacles.":[22],"The":[23],"state-of-the-art":[24],"approaches":[25],"mostly":[26],"employ":[27],"an":[28,42,67],"offline":[29],"optimization":[30,44],"that":[32,51],"is":[33],"only":[34],"applicable":[35],"to":[36,65],"holonomic":[37],"systems.":[38],"presents":[41],"online":[43],"technique,":[45],"by":[46],"designing":[47],"trade-off":[49],"parameter":[50],"integrates":[52],"theory":[54],"with":[55,88],"model":[57,91],"predictive":[58,92],"control":[59,93],"which":[60],"allows":[61],"nonholonomic":[63],"defender":[64],"intercept":[66],"attacker":[68],"while":[69],"simultaneously":[70],"defending":[71],"specific":[73],"target.":[74],"Several":[75],"indoor":[76],"laboratory":[77],"experiments":[78],"validate":[79],"performance":[81],"proposed":[84],"approach":[85],"and":[86],"compared":[87],"standard":[90],"approach.":[94]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
