1. Department of Cognitive Robotics, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, Netherlands
2. Group Renault, Chassis Systems Department, 1 Avenue du Golf, 78280 Guyancourt, France
3. Department of Computer and System Engineering, ENSTA ParisTech, 828 Boulevard des Maréchaux, 91762 Palaiseau Cedex, France