CSO rejuvenation approximates mean-square contraction in particle sets, which via Karamata's inequality on KLD bin occupancy suggests lower expected particle counts than standard particle filters for equivalent error bounds.
Xianbing Meng, Yu Liu, Xiaozhi Gao, and Hengzhen Zhang
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On the Interaction Between Chicken Swarm Rejuvenation and KLD-Adaptive Sampling in Particle Filters
CSO rejuvenation approximates mean-square contraction in particle sets, which via Karamata's inequality on KLD bin occupancy suggests lower expected particle counts than standard particle filters for equivalent error bounds.