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Nonlinear Filtering With Sample-Based Approximation Under C..:

Song, Weihao ; Wang, Zidong ; Li, Zhongkui..
IEEE/CAA Journal of Automatica Sinica.  11 (2024)  7 - p. 1539-1556 , 2024
Link: https://doi.org/10.1109/jas.2023.123588