A Comparison of Parametric and Sample-Based Message Representation in Cooperative Localization

Table 1

Comparison of complexity of message representations, where 𝑅 is the number samples taken from each distribution and 𝑀 is the number of distributions or messages.

Approach	Operation	Complexity	Value of 𝑅
Discretized	Filtering	𝒪(𝑅^2)	Large
Discretized	Multiplication	𝒪(𝑅𝑀)	Large
Sample-based	Filtering	𝒪(𝑅)	Small
Sample-based	Multiplication	𝒪(𝑅^2𝑀)	Small
Parametric	Filtering	𝒪(𝑅)	Small
Parametric	Multiplication	𝒪(𝑅𝑀)	Small