GrahamK85'

@article{DBLP:journals/tc/GrahamK85,
  author    = {James H. Graham and
               Thaddeus F. Kadela},
  title     = {Parallel Algorithms and Architectures for Optimal State
               Estimation},
  journal   = {IEEE Trans. Computers},
  volume    = {34},
  number    = {11},
  year      = {1985},
  pages     = {1061-1068},
  ee        = {http://doi.ieeecomputersociety.org/10.1109/TC.1985.1676540},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}