... HETEROGENEOUS MULTISENSOR ARCHITECTURE185BIBLIOGRAPHY1. D. L. Hall, Mathematical Techniques in Multisensor Data Fusion, Norwood, MA:Artech House, 1992.2. J. Llimas and E. Waltz, Multisensor ... November 1985.13. H. F. Durrant-Whyte, “Sensor Models and Multisensor Integration,” Intl. J. Robotics Re-search, 6(3): 3, 1987. 186 MULTISENSOR ARCHITECTURES AND ERROR PROPAGATIONmentation ... integrated multisensor error propagation, where propagation in algorith-mic computations is evaluated employing the relationships defined in Table 8-1. Asequential architecture describes multisensor...