1. Institute for Systems and Robotics, Laboratory for Robotics and Engineering Systems, Lisboa, Portugal
2. Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal
3. LAETA-Associated Laboratory for Energy, Transports and Aeronautics, IDMEC-Institute of Mechanical Engineering, and Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal
4. Faculty of Science and Technology, Department of Electrical and Computer Engineering, University of Macau, Taipa, Macau