Resampling - essence of particle filter

From introduction: Particle Filter history dates back to the mid-twentieth century, when Norbert Wiener proposed something similar to particle filter, but only in the 80`s computing power has enabled for further work in this direction [Simon 2006]. The breakthrough came in 1993, when Gordon, Salmond and Smith proposed in [Gordon et al. 1993] algorithm, which has been devoid the biggest flaw – degeneration (the algorithm is described in subchapter “Bootstrap Filter”). The uniqueness of this algorithm is due the use of resampling.
P. Kozierski, M. Lis, A. Królikowski, A. Gulczyński: Resampling - essence of particle filter. In: Nowe trendy w naukach inżynieryjnych 3. Creativetime, Kraków 2013, pp. 174-185.