1. Institute for Systems and Robotics (ISR/LARSyS), Instituto Superior Técnico, University of Lisbon, Lisbon, Portugal
2. Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto and Department of Mathematics, Instituto Superior Técnico, University of Lisbon, Lisbon, Portugal
3. Department of Mathematics and Computer Science, University of Cagliari, Cagliari, Italy
4. SQIG—Instituto de Telecomunicações, Department of Mathematics, Instituto Superior Técnico, University of Lisbon, Lisbon, Portugal