Resampling methods-ER Equal resampling(ER) B f(=2x)6() x1 b=1 f(x2) X1 x3 x4 x2 o Resample fitness 4>e e Average fitness 10 ParticleResampling Methods-ER ◼ Equal resampling (ER) 𝑓ሚ 𝑥 = 1 𝐵 × ෍ 𝑏=1 𝐵 𝑓 መ 𝑏(𝑥) 0 𝒙𝟏 𝒙𝟐 𝑓ሚ 𝑥1 𝑓ሚ 𝑥2 fitness 𝒙𝟑 𝒙 𝑓ሚ 𝑥3 𝒙𝟒 𝑓ሚ 𝑥4 Resample fitness Average fitness 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 1 2 3 4 5 6 7 8 9 10 re -evaluations Particle