Table 2 Pseudo code of MIS-based LPS procedure

2: Input:

3:    previous selected particle: {$x_t^{\left(i\right)}$,$w_t^{\left(i\right)}$}

4:    new generated particle: {$x_{\mathsf{\text{temp}}}^{\left(j\right)}$,$w_{\mathsf{\text{temp}}}^{\left(j\right)}$}

5: Selection:

6:    if ($w_{temp}^{\left(j\right)}>w_t^{\left(i\right)}$)

7:      $x_t^{\left(i\right)}=x_{\mathsf{\text{temp}}}^{\left(j\right)}$

8:      $w_t^{\left(i\right)}=w_{\mathsf{\text{temp}}}^{\left(j\right)}$

9:    end if