@TechReport{	  it:2014-018,
  author	= {Olov Ros{\'e}n and Alexander Medvedev},
  title		= {Parallelization of the Particle Filter via Series
		  Expansions},
  institution	= {Department of Information Technology, Uppsala University},
  department	= {Division of Systems and Control},
  year		= {2014},
  number	= {2014-018},
  month		= aug,
  abstract	= {Parallelizability of an algorithm is nowadays a highly
		  desirable property as computer hardware is becoming
		  increasingly parallel. In this paper, a formulation of the
		  particle filtering algorithm, suitable for parallel or
		  distributed computing, is proposed. From the particle set,
		  a series expansion is fitted to the posterior probability
		  density function. The global information expressed by the
		  particles can in this way be compressed to a few
		  informative coefficients that can be efficiently
		  communicated between the local processing units.
		  Experiments on a shared-memory multicore processor using up
		  to 8 cores show that linear speedup in the number of used
		  cores is achieved.}
}