Antonio Sanfilippo Bob Baddeley Christian Posse Paul Whitney A Layered Dempster-Shafer Approach to Scenario Construction and Analysis. 95-102 2007 conf/isi/2007 ISI http://dx.doi.org/10.1109/ISI.2007.379540 db/conf/isi/isi2007.html#SanfilippoBPW07