1. Department of Computer Science, KU Leuven, Leuven, Belgium
2. Department of Mechanical Engineering, KU Leuven, Leuven, Belgium
3. University of Lille, UMR 9189 - CRIStAL, CNRS, Centrale Lille, France
4. University of Lille, UMR 9189 - CRIStAL, CNRS, Inria, Centrale Lille, France