A unified information fusion, decision and control scheme is presented at different levels of data abstraction for multisensor-based robotic systems. It is based on the framework of Bayesian networks. Shannon's measure of mutual information and error-based measures are used in the decision of information sources.
"Sensor fusion at different levels of data abstraction", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.25297; https://doi.org/10.1117/12.25297