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In this way, the newest observations are gradually considered to approximate the sampling results from the optimal proposal distribution and hence overcome the sample impoverishment problem suffered by conventional PF.
To further handle sample impoverishment problem suffered by conventional PF, Zhang et al. [9] propose a swarm intelligence-based PF tracking algorithm, where particles are firstly propagated through the state transition model, and then corporately evolved according to particle swarm optimization (PSO) iterations based on the cognitive and social aspects of particle populations.
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The method uses the MCMC to solve the problem of sample impoverishment in UPF algorithm.
Resampling operation solves degeneracy to some extent, but it results in the problem of sample impoverishment.
Theoretically, the problem of sample impoverishment can be avoided if we are able to resample from a continuous distribution rather than a discrete one.
One problem caused by the resampling step is the so-called sample impoverishment.
However, the number of samples cannot adequately express the real distribution of the probability density function (i.e., sample impoverishment).
The algorithm uses a technique to deal with sample impoverishment.
However, resampling may produce undesired effects, such as sample impoverishment.
However, the SIR scheme often suffers from sample impoverishment and, therefore, has weak performance.
Resampling techniques are employed to tackle degeneracy issues but sometimes when applied improperly can lead to sample impoverishment [21].
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