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== External links ==
* [http://citeseer.ist.psu.edu/504843.html A Tutorial on Particle Filters for On-line Non-linear/Non-Gaussian Bayesian Tracking], IEEE Transactions on Signal Processing (2001)
* [http://julien.diard.free.fr/articles/CIRAS03.pdf A survey of probabilistic models, using the Bayesian Programming methodology as a unifying framework]
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