{
  "abstract": "We introduce Contractor Filters (CFs), a set-membership architecture for nonlinear continuous-time state estimation with bounded uncertainties and sporadic outliers. CFs represent feasible states symbolically by compositions of contractors rather than rematerializing a geometric enclosure after each update. This provides an abstraction layer between the set-theoretic filtering equations and their numerical realization, so prediction, correction, ambiguity, and outlier handling can be expressed within one algebra without prescribing a state geometry. We derive an exact nominal recursion and a guaranteed robust enclosure, with validated flow inclusions preserving soundness. Optional sub-paving compression then provides finite outer representations. CFs are evaluated against a robust particle filter on range-only and terrain-based localization under outliers, probabilistic model mismatch, association ambiguity, and multimodality. CFs retain the simulated truth in all tested configurations, while particle-filter reliability degrades under persistent bias and spatial aliasing. Contractor strength and compression budget control the trade-off between paving tightness and computational cost, while preserving the enclosure guarantee.",
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  "article_type": null,
  "arxiv": "2610.18040",
  "author_total": 1,
  "authors": [
    {
      "name": "Simon Rohou"
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  "doi": "10.48550/arxiv.2610.18040",
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  "pdf_url": "https://ensta.hal.science/hal-05795637/document",
  "pmcid": null,
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  "published": "2026-10-12",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/138vz6jmmepes.ris",
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      "first_seen": "2026-10-30T12:17:55Z",
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      "url": "https://ensta.hal.science/hal-05795637v1"
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      "source": "arxiv",
      "url": "https://arxiv.org/abs/2610.18040"
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  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.DS",
      "subfield": "dynamical-systems"
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  "title": "Contractor Filters",
  "title_text": "Contractor Filters",
  "type": "preprint",
  "updated_at": "2026-10-30T12:29:19Z",
  "url": "https://research.draconitic.com/paper/138vz6jmmepes",
  "venue": "HAL",
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