Completing the resampling algorithms portfolio

[hidmic]

Most textbooks on particle filtering mention four (4) standard resampling algorithms:

• Multinomial resampling (implemented)
• Systematic resampling (WIP, Implement low-variance sampling algorithm #48)
• Stratified resampling
• Residual resampling

Which algorithm is best seems to be application dependent (or no one has really bothered to check). It'd be nice for Beluga to offer them all. Once we have implementations, we may benchmark and perhaps provide some additional insights.

[hidmic]

https://ieeexplore.ieee.org/document/7079001 may come in handy here.