@article{Stano2013SaturatedParticleFilter, author = {P.M Stano and {Zs}. Lendek and R. Babu\v{s}ka}, title = {Saturated particle filter: almost sure convergence and improved resampling}, journal = {Automatica}, volume = {49}, number = {1}, year = {2013}, pages = {147--159} }