@article{numericallyrobustfixedpointsmoothing,
  title = {Numerically Robust Fixed-Point Smoothing Without State Augmentation},
  author = {Nicholas Krämer},
  year = {2024},
  eprint = {2409.20004},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2409.20004v2},
}