Andrew Stirling Mykola Lukashchuk Dmitry Bagaev Wouter M. Kouw James Richard Forbes Gaussian Variational Inference With Non-Gaussian Factors for State Estimation: A UWB Localization Case Study. 2026 March 2762-2769 11 IEEE Robotics Autom. Lett. 3 https://doi.org/10.1109/LRA.2026.3653370 db/journals/ral/ral11.html#StirlingLBKF26 streams/journals/ral