{"id":"https://openalex.org/W1997462664","doi":"https://doi.org/10.1109/tac.2011.2141430","title":"An $\\ell _{1}$-Laplace Robust Kalman Smoother","display_name":"An $\\ell _{1}$-Laplace Robust Kalman Smoother","publication_year":2011,"publication_date":"2011-04-08","ids":{"openalex":"https://openalex.org/W1997462664","doi":"https://doi.org/10.1109/tac.2011.2141430","mag":"1997462664"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2011.2141430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2011.2141430","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-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/A5091863515","display_name":"Aleksandr Y. Aravkin","orcid":"https://orcid.org/0000-0002-1875-1801"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Aleksandr Y. Aravkin","raw_affiliation_strings":["Department of Earth and Ocean Sciences, University of British Columbia, Vancouver, BC, Canada","Dept. of Earth & Ocean Sci., Univ. of British Columbia, Vancouver, BC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Earth and Ocean Sciences, University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Dept. of Earth & Ocean Sci., Univ. of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112857690","display_name":"Bradley M. Bell","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I4210138199","display_name":"University of Washington Applied Physics Laboratory","ror":"https://ror.org/03d17d270","country_code":"US","type":"facility","lineage":["https://openalex.org/I201448701","https://openalex.org/I4210138199"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bradley M. Bell","raw_affiliation_strings":["Applied Physics laboratory, University of Washington, Seattle, WA, USA","Appl. Phys. Lab., Univ. of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Physics laboratory, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I4210138199"]},{"raw_affiliation_string":"Appl. Phys. Lab., Univ. of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085980354","display_name":"James V. Burke","orcid":"https://orcid.org/0000-0002-0215-7306"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James V. Burke","raw_affiliation_strings":["Department of Mathematics, University of Washington, Seattle, WA, USA","Dept. of Math., Univ. of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Math., Univ. of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060156794","display_name":"Gianluigi Pillonetto","orcid":"https://orcid.org/0000-0001-9584-3323"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluigi Pillonetto","raw_affiliation_strings":["Dipartimento di Ingegneria dell'Informazione, University of Padova, Padova, Italy","Dipt. di Ing. dell'Inf., Univ. of Padova, Padova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione, University of Padova, Padova, Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"Dipt. di Ing. dell'Inf., Univ. of Padova, Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.5099,"has_fulltext":false,"cited_by_count":90,"citation_normalized_percentile":{"value":0.98660663,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"56","issue":"12","first_page":"2898","last_page":"2911"},"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":0.9997000098228455,"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":0.9997000098228455,"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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9783999919891357,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11443","display_name":"Advanced Statistical Process Monitoring","score":0.9776999950408936,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6512361764907837},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6168057918548584},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4890340268611908},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.47336074709892273},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.46269047260284424},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4618951082229614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3460795283317566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22729423642158508},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09681552648544312}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6512361764907837},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6168057918548584},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4890340268611908},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.47336074709892273},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.46269047260284424},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4618951082229614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3460795283317566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22729423642158508},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09681552648544312},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2011.2141430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2011.2141430","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:www.research.unipd.it:11577/2482967","is_oa":false,"landing_page_url":"http://hdl.handle.net/11577/2482967","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5299999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315116","display_name":"Institute for Health Metrics and Evaluation","ror":"https://ror.org/02684h094"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W41409100","https://openalex.org/W1483307070","https://openalex.org/W1500564636","https://openalex.org/W1531532259","https://openalex.org/W1572031236","https://openalex.org/W1986842884","https://openalex.org/W1987589111","https://openalex.org/W1988827501","https://openalex.org/W1990511164","https://openalex.org/W1996706444","https://openalex.org/W2007249861","https://openalex.org/W2020196977","https://openalex.org/W2022023686","https://openalex.org/W2031568412","https://openalex.org/W2045021643","https://openalex.org/W2055883125","https://openalex.org/W2064119066","https://openalex.org/W2064480843","https://openalex.org/W2071937679","https://openalex.org/W2083402998","https://openalex.org/W2091077439","https://openalex.org/W2105934661","https://openalex.org/W2109455849","https://openalex.org/W2114714448","https://openalex.org/W2119007379","https://openalex.org/W2122512809","https://openalex.org/W2122517808","https://openalex.org/W2127678179","https://openalex.org/W2130416410","https://openalex.org/W2134266087","https://openalex.org/W2136105491","https://openalex.org/W2138309709","https://openalex.org/W2138785270","https://openalex.org/W2141436719","https://openalex.org/W2144401864","https://openalex.org/W2151673022","https://openalex.org/W2158518844","https://openalex.org/W2165752801","https://openalex.org/W2166471851","https://openalex.org/W4240278298","https://openalex.org/W4249513058","https://openalex.org/W4249667877","https://openalex.org/W4255230573","https://openalex.org/W6646900821","https://openalex.org/W6684880301"],"related_works":["https://openalex.org/W2383807498","https://openalex.org/W1978572805","https://openalex.org/W1997992934","https://openalex.org/W1987225439","https://openalex.org/W4238188170","https://openalex.org/W2125114371","https://openalex.org/W2051487156","https://openalex.org/W2385286892","https://openalex.org/W2350927655","https://openalex.org/W4225393332"],"abstract_inverted_index":{"Robustness":[0],"is":[1,80,138,161],"a":[2,33,42,145,165],"major":[3],"problem":[4],"in":[5],"Kalman":[6,39,110],"filtering":[7],"and":[8,49,118],"smoothing":[9],"that":[10,129],"can":[11],"be":[12],"solved":[13],"using":[14],"heavy":[15],"tailed":[16],"distributions;":[17],"e.g.,":[18],"\u2113":[19,50,132,155],"<sub":[20,51,133,156],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[21,52,134,157],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sub>":[22,53,135,158],"-Laplace.":[23,136],"This":[24,68],"paper":[25],"describes":[26],"an":[27,75,150],"algorithm":[28,58,90,101],"for":[29,41,149],"finding":[30],"the":[31,38,60,65,89,94,100,103,109,123],"maximum":[32],"posteriori":[34],"(MAP)":[35],"estimate":[36],"of":[37,64,84,96,108],"smoother":[40,111,160],"nonlinear":[43,146],"model":[44,148],"with":[45,93,117,144,173],"Gaussian":[46],"process":[47],"noise":[48],"-Laplace":[54,159],"observation":[55],"noise.":[56],"The":[57,82,154],"uses":[59],"convex":[61,70],"composite":[62],"extension":[63],"Gauss-Newton":[66],"method.":[67],"yields":[69],"programming":[71],"subproblems":[72],"to":[73,163],"which":[74],"interior":[76],"point":[77],"path-following":[78],"method":[79],"applied.":[81],"number":[83,95],"arithmetic":[85],"operations":[86],"required":[87],"by":[88],"grows":[91],"linearly":[92],"time":[97],"points":[98],"because":[99],"preserves":[102],"underlying":[104],"block":[105],"tridiagonal":[106],"structure":[107],"problem.":[112],"Excellent":[113],"fits":[114],"are":[115,125,130],"obtained":[116],"without":[119,168],"outliers,":[120],"even":[121],"though":[122],"outliers":[124],"simulated":[126],"from":[127,171],"distributions":[128],"not":[131],"It":[137],"also":[139],"tested":[140],"on":[141],"actual":[142],"data":[143,169,172],"measurement":[147],"underwater":[151],"tracking":[152],"experiment.":[153],"able":[162],"construct":[164],"smoothed":[166],"fit,":[167],"removal,":[170],"very":[174],"large":[175],"outliers.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}
