Discussion
What problem does resampling address in a particle filter?
Answer: C
Without resampling almost all the weight concentrates on a single particle and the effective sample size collapses, a failure called degeneracy. Drawing a new population in proportion to the weights restores diversity where the probability actually is. Drift, growth and negative weights are different or impossible. A failure mode in which a population representation quietly reduces to a single member is worth watching for in any sampling scheme.
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