I have studied Claus Brenner's lectures on how to implement the FastSLAM 1.0 algorithm, where each particle maintains the robot pose, and maintains EKF's of the landmarks.
However, I'd like to implement FastSlam 2.0. Which I understand uses particle filters completely. Is this the same as FS 1.0, but instead of each particle maintaining an EKF of the landmark, each particle maintains yet another array of particle filters for landmarks?