A theory of martingales for censoring is developed. The Doob-Meyer martingale is shown to be inadequate in general, and a repaired martingale is proposed with a non-predictable centering term. Associated martingale transforms, variation processes, and covariation processes are developed based on a measure of half-predictability that generalizes predictability. The development is applied to study the Kaplan Meier estimator.
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Baer et al. (2024) studied this question.
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