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--- a/tex/chapters/relatedwork.tex
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+\section{Related Work}
+\label{sec:relatedWork}
+% 3/4 Seite ca.
+
+andere arbeiten die particle depletion verhindern wollte -> was haben die so gemacht?
+
+basic idea of this work is to combine two different filters. on depending upon realistic movement and the other observing absolut positions to prefent particle depletion due to relative measurements. 
+
+combining different filters.
+
+jump markov non linear system.
+
+interacting multiple model
+
+particle filter
+
+
+
+