The system recently proposed by our group and participants of the HERMES project uses my idea of a SQL-database not only for book-keeping of observations, but also for arbitration of control strategies and commands.
You can see one of our first videos from this system on Youtube or here locally. (~50MB)
Overview and closeup of a skeptical target.
A pan, tilt, zoom camera is controlled by commands polled from a command table in the database. The commands are can be generated from a process running an inference engine, geometric reasoning, or the information theoretic approach outlined above. All these use an underlying data fusion process as input.