references.bib

@article{doucet2009tutorial,
  title={A tutorial on particle filtering and smoothing: Fifteen years later},
  author={Doucet, Arnaud and Johansen, Adam M},
  journal={Handbook of Nonlinear Filtering},
  volume={12},
  pages={656--704},
  year={2009},
  publisher={Oxford, UK: Oxford University Press}
}