@misc{W2117397690,
  author = {H.A.P. Blom and Yaakov Bar‐Shalom},
  title = {The interacting multiple model algorithm for systems with Markovian switching coefficients},
  year = {1988},
  howpublished = {IEEE Transactions on Automatic Control},
  doi = {https://doi.org/10.1109/9.1299}
}