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Darling, R.W.R. (1982). Martingales in manifolds—Definition examples, and behaviour under maps. In: Azéma, J., Yor, M. (eds) Séminaire de Probabilités XVI, 1980/81 Supplément: Géométrie Différentielle Stochastique. Lecture Notes in Mathematics, vol 921. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0092652
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DOI: https://doi.org/10.1007/BFb0092652
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