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   title = {Rao-Blackwellized Particle Smoothers for Mixed Linear/Nonlinear State-Space Models},
   author = {Lindsten, Fredrik and Bunch, Pete and Godsill, Simon J. and Sch{\"o}n, Thomas},
   booktitle = {Proceedings of the 38th International Conference on Acoustics, Speech, and Signal Processing},
   institution = {Linköping University},
   pages = {6288--6292},
   year = {2013}

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