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S. Nakamori, R. Caballero-águila, A. Hermoso-Carazo and J. Linares-Pérez, “Fixed-Point Smoothing with Non- Independent Uncertainty Using Covariance Information,” International Journal of Systems Science, Vol. 34, No. 7, 2003, pp. 439-452. doi:10.1080/00207720310001636390

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