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First provide a summary of the paper, and then address the following criteria: Quality, clarity, originality and significance. In particle filtering, the resampling step is a synchronous operation: one needs all the particles before computing the normalised weights (since the denominator is the sum of all the weights), and then resample. The reviewed paper propose an asynchronous resampling mechanism, where the number of children of particle k depends only the weights of particles 1 to k. The proposed idea is quite straightforward, but still interesting and potentially very useful. What is a bit lacking in the current version is some motivation for an asynchronous implementation of particle filtering.