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agents aircraft algorithms analysis application approach architecture associated assumed attribute Average Bayesian blackboard Block classifier color combination complex computed confidence contain Control data fusion decision defined described detection determined developed discrimination distribution effect element enhancement environment error error rate estimate evaluation example feature field Figure filter frame function fused fusion system given identity implementation improve input integration intelligent interface knowledge matching mean measurement method motion moving MSDF multiple networks noise object observation obtained operating optimal original output parameters performance phase position presented probability problem range Recognition reference region reports represented Research resolution rule sample scenario scene selected sensor data sensor fusion separate sequence shown signal simulation single situation sources space specific SPIE Subset Table target techniques threat track Training transformed values vector