Fig. 3From: Multiple particle filtering for tracking wireless agents via Monte Carlo likelihood approximationFour agents (turquoise) in a pipeline. This setup was used for CFD simulations with dimensions of 11.2 m Ă— 6.48 m and four beacons (red diamonds). The different colors (blue to yellow) indicate different speeds, and the arrows indicate the direction of the flow. The figure shows the velocity normalized to the max. occurring velocityBack to article page