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* '''Scaled noise:''' For each <math>t\geq 0</math> and <math>i=1,\dots,N</math>, we denote by <math>B^i_t</math> independent standard Brownian motions. The function <math>D:{\cal{X}}\to\R^s</math> incorporates the drift of the <math>i</math>th particle and determines the noise model. The most common choices are:
** ''Isotropic noise'', <math>D(\cdot) = \|\cdot \|</math>: In this case <math>s=1</math> and every component of the noise vector is scaled equally. This was used in the original version of the algorithm<ref name=":0" />.
** ''Anisotropic noise<ref>{{
* '''Hyperparameters:''' The parameter <math>\sigma \geq 0</math> scales the influence of the noise term. The parameter <math>\alpha \geq 0</math> determines the separation effect of the particles<ref name=":0" />:
** in the limit <math>\alpha\to 0</math> every particle is assigned the same weight and the consensus point is a regular mean.
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