1. Department of Computer Science and Systems Engineering, University of Zaragoza, Zaragoza, Spain
2. Multi-Agent Autonomous Systems Lab, Intel Labs, Intel Tecnología de México, Jalisco, Mexico
3. Tecnologico de Monterrey, Escuela de Ingeniería y Ciencias, Jalisco, Mexico
4. Department of Mathematics and Physics, ITESO, Jalisco, Mexico
5. LAMIH, UMR CNRS 8201, INSA Hauts-de-France, UPHF, Valenciennes, France