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.
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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.