State estimation is a key ingredient in most robotic systems. Often, state performed using some form of least squares minimization. Basically, all error minimization procedures that work on real-world data use robust kernels as the standard way for dealing with outliers data. These kernels, however, are often hand-picked, sometimes different combinations, and their parameters need to be tuned m...

Multivalued projections are applied to the study of weighted least squares solutions linear relations equations (or inclusions) and some its applications. To this end a matrix representation multivalued with respect closure their ranges is described.