Itô-Taylor-based square-root unscented Kalman filtering methods for state estimation in nonlinear continuous-discrete stochastic systems
          Kulikov, Gennady Yu; Kulikova, Maria  
          
          European Journal of Control, 58 (2021), 101-113  
          https://doi.org/10.1016/j.ejcon.2020.07.003  
           
            
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