A residual-aware distributionally robust EKF absorbs linearization mismatch into a stage-wise Wasserstein ambiguity set, yielding computable effective radius and deterministic upper bounds on nonlinear estimation errors with a tractable SDP reformulation.
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Residual-Aware Distributionally Robust EKF: Absorbing Linearization Mismatch via Wasserstein Ambiguity
A residual-aware distributionally robust EKF absorbs linearization mismatch into a stage-wise Wasserstein ambiguity set, yielding computable effective radius and deterministic upper bounds on nonlinear estimation errors with a tractable SDP reformulation.