Apparently, I totally misread what you needed. Sorry. Your domain is very interesting. I briefly studied it a long time ago. They were using fusion of data coming from different components with quite non-deterministic algorithms such as fuzzy logic or neural networks. There wasn't any way to verify them at the time. I've seen a few attempts at such things but would need to know what kind of algorithm you use for sense, learn, and act (or whatever they call it). No guarantees here.
