1. Higher Institute of Information and Communication Technologies, University of Carthage, Tunis, Tunisia
2. Laboratory of Robotics, Informatics and Complex Systems (RISC Lab, LR16ES07), National Engineering School of Tunis, University of Tunis El Manar, Tunis, Tunisia
3. CRAN UMR CNRS 7039, University of Lorraine, Cosnes et Romain, France