An adaptive distributed resampling algorithm with non-proportional allocation

The distributed resampling algorithm with non-proportional allocation (RNA) [1] is key to implementing particle filtering applications on parallel computer systems. We extend the original work by Bolić et al. by introducing an adaptive RNA (ARNA) algorithm, improving RNA by dynamically adjusting the particle-exchange ratio and randomizing the process ring topology. This improves the runtime performance of ARNA by about 9% over RNA with 10% particle exchange. ARNA also significantly improves the speed at which information is shared between processing elements, leading to about 20-fold faster convergence. The ARNA algorithm requires only a few modifications to the original RNA, and is hence easy to implement.