Hierarchical resampling architecture for distributed particle filters

In this paper, a hierarchical resampling (HR) architecture has been presented for distributed particle filters (PFs). The proposed architectures decomposes the resampling step into two hierarchies, of which the first one, called intermediate resampling, is conducted consecutively among processing elements (PEs) the moment new particles and their weights are generated by each PE, and the second one, named unitary resampling, is performed sequentially after the whole intermediate resampling procedure and shared by all PEs. Compared with traditional distributed architectures, the HR architecture eliminates the particle redistribution step, and has such advantages as short execution time, high memory efficiency and well scalability.