{"id":"https://openalex.org/W2114438120","doi":"https://doi.org/10.1109/cdc.2007.4434208","title":"A robust particle filter for state estimation — with convergence results","display_name":"A robust particle filter for state estimation — with convergence results","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2114438120","doi":"https://doi.org/10.1109/cdc.2007.4434208","mag":"2114438120"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009996442","display_name":"Xiaoli Hu","orcid":"https://orcid.org/0000-0003-0036-2231"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiao-Li Hu","raw_affiliation_strings":["Department of Mathematics, College of Science, China Jiliang University, Hangzhou, China","China Jiliang Univ., Hangzhou#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, College of Science, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]},{"raw_affiliation_string":"China Jiliang Univ., Hangzhou#TAB#","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083090794","display_name":"Thomas B. Sch\u00f6n","orcid":"https://orcid.org/0000-0001-5183-234X"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Thomas B. Schon","raw_affiliation_strings":["Division of Automatic Control, Link\u00f6ping universitet, Linkoping, Sweden","Division of Automatic Control, Link\u00f6pings Universitet, SE-581 83, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Link\u00f6ping universitet, Linkoping, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Division of Automatic Control, Link\u00f6pings Universitet, SE-581 83, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078405221","display_name":"Lennart Ljung","orcid":"https://orcid.org/0000-0003-4881-8955"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Lennart Ljung","raw_affiliation_strings":["Division of Automatic Control, Link\u00f6ping universitet, Linkoping, Sweden","Division of Automatic Control, Link\u00f6pings Universitet, SE-581 83, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Link\u00f6ping universitet, Linkoping, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Division of Automatic Control, Link\u00f6pings Universitet, SE-581 83, Sweden","institution_ids":["https://openalex.org/I102134673"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009996442"],"corresponding_institution_ids":["https://openalex.org/I55538621"],"apc_list":null,"apc_paid":null,"fwci":0.9387,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.82120453,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"312","last_page":"317"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11236","display_name":"Control Systems and Identification","score":0.9782999753952026,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.8355716466903687},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.7826738357543945},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.6061606407165527},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5359146595001221},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4864042103290558},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4629972577095032},{"id":"https://openalex.org/keywords/auxiliary-particle-filter","display_name":"Auxiliary particle filter","score":0.4617825150489807},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.44480615854263306},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44396671652793884},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4357200264930725},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39665982127189636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38543182611465454},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.29097163677215576},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.2777206599712372},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.15309742093086243},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13273122906684875},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.12227019667625427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11740154027938843},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11716380715370178},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09336018562316895}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.8355716466903687},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7826738357543945},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.6061606407165527},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5359146595001221},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4864042103290558},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4629972577095032},{"id":"https://openalex.org/C52483021","wikidata":"https://www.wikidata.org/wiki/Q4827310","display_name":"Auxiliary particle filter","level":5,"score":0.4617825150489807},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.44480615854263306},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44396671652793884},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4357200264930725},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39665982127189636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38543182611465454},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29097163677215576},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.2777206599712372},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.15309742093086243},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13273122906684875},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.12227019667625427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11740154027938843},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11716380715370178},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09336018562316895},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2007.4434208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W3294551","https://openalex.org/W34479653","https://openalex.org/W277831955","https://openalex.org/W1483307070","https://openalex.org/W1513008779","https://openalex.org/W1991324737","https://openalex.org/W2012040648","https://openalex.org/W2069739265","https://openalex.org/W2089657469","https://openalex.org/W2098613108","https://openalex.org/W2105934661","https://openalex.org/W2122512809","https://openalex.org/W2126736494","https://openalex.org/W2160337655","https://openalex.org/W2162733643","https://openalex.org/W2169921307","https://openalex.org/W6668080254","https://openalex.org/W6678361441"],"related_works":["https://openalex.org/W2368144031","https://openalex.org/W3144709167","https://openalex.org/W2355962871","https://openalex.org/W2127981223","https://openalex.org/W2162253570","https://openalex.org/W2109576686","https://openalex.org/W2593675237","https://openalex.org/W1824810860","https://openalex.org/W2382411933","https://openalex.org/W2070455225"],"abstract_inverted_index":{"Particle":[0],"filters":[1,54],"are":[2],"becoming":[3],"increasingly":[4],"important":[5],"and":[6,20],"useful":[7],"for":[8,52,55],"state":[9,40,56],"estimation":[10],"in":[11],"nonlinear":[12],"systems.":[13],"Many":[14],"filter":[15,26,63,83],"versions":[16],"have":[17,28],"been":[18,29,44],"suggested,":[19],"several":[21],"results":[22],"on":[23,35],"convergence":[24,37,71],"of":[25,38,94],"properties":[27],"reported.":[30],"However,":[31],"apparently":[32],"a":[33,49,61,68],"result":[34,72],"the":[36,39,81,88,92],"estimate":[41,84],"itself":[42],"has":[43],"lacking.":[45],"This":[46],"contribution":[47],"describes":[48],"general":[50,70],"framework":[51],"particle":[53,82],"estimation,":[57],"as":[58,60,91],"well":[59],"robustified":[62],"version.":[64],"For":[65],"this":[66],"version":[67],"quite":[69],"is":[73,78],"established.":[74],"In":[75],"particular,":[76],"it":[77],"proved":[79],"that":[80],"convergences":[85],"w.p.1":[86],"to":[87,97],"optimal":[89],"estimate,":[90],"number":[93],"particles":[95],"tends":[96],"infinity.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}