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MR1989630 93E11 (60B10 60G35 60J27 62G09 93E15 94A12)
LeGland, François; Oudjane, Nadia A robustification approach to stability and to uniform particle approximation of nonlinear filters: the example of pseudo-mixing signals. Stochastic Process. Appl. 106 (2003), no. 2, 279–316.
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