Grey Wolf Resampling-Based Rao-Blackwellized Particle Filter for Mobile Robot Simultaneous Localization and Mapping

Algorithm 2

The resampling algorithm.

	IF , (PF resampling switches between SIR and SIS)
	FOR i = 1 : N
	(the number of the i-th particle copied times and the initial value is zero.)
	WHILE
	END WHILE
	END FOR
	END IF