  Coping with outliers contaminating dynamical processes is of major importance
in various applications because mismatches from nominal models are not uncommon
in practice. In this context, the present paper develops novel fixed-lag and
fixed-interval smoothing algorithms that are robust to outliers simultaneously
present in the measurements {\it and} in the state dynamics. Outliers are
handled through auxiliary unknown variables that are jointly estimated along
with the state based on the least-squares criterion that is regularized with
the $\ell_1$-norm of the outliers in order to effect sparsity control. The
resultant iterative estimators rely on coordinate descent and the alternating
direction method of multipliers, are expressed in closed form per iteration,
and are provably convergent. Additional attractive features of the novel doubly
robust smoother include: i) ability to handle both types of outliers; ii)
universality to unknown nominal noise and outlier distributions; iii)
flexibility to encompass maximum a posteriori optimal estimators with reliable
performance under nominal conditions; and iv) improved performance relative to
competing alternatives at comparable complexity, as corroborated via simulated
tests.
