function [Xk_new,wk_new] = resampleParticle(Xk,wk,Ns,nu)
% Find the indexes for the resample:
indx=resampleSystematic(wk,Ns);
% Duplicate particles & set equal weights:
Xk_new = Xk(:,indx);
wk_new= repmat(nu/Ns,1,Ns);
