1. A computer-implemented method for developing decision information relating to a single system based on data received from a plurality of sensors detecting the environment of that system comprising the steps of: receiving first data from a first sensor that defines first information of a first type that is related to a system; receiving second data from a second sensor that defines second information of a second type that is related to said system, wherein the first type is different from the second type; refining the first information by using the second data as auxiliary data and refining the second information by using the first data as auxiliary data; generating, by using a processor of the computer, a first decision model for the first sensor based on the refined first information, the first decision model including first scores; generating, by using the processor of the computer, a second decision model for the second sensor based on the refined second information, the second decision model including second scores; generating, by using the processor, a third decision model based on the first and second scores; determining, by using the processor, whether data is available from only the first sensor, only the second sensor, or both the first and second sensors; and selecting based on the determination of availability an additional model to apply the available data, wherein the additional model is selected from a plurality of additional decision models including the third decision model.