1. DEI, Universitá di Bologna,Bologna,Italy
2. Politecnico di Torino,Department of Control and Computer Engineering,Turin,Italy
3. ETH Zurich,Integrated Systems Laboratory,Switzerland
4. University of Modena and Reggio Emilia,Department of Sciences and Methods for Engineering,Italy
5. Politecnico di Torino,Interuniversity Department of Regional and Urban Studies and Planning,Turin,Italy