1. a LAAS-CNRS , 7, avenue du colonel Roche, F-31077 , Toulouse cedex 04
2. b Université Paul Sabatier , 118, route de Narbonne, F-31044 , Toulouse cedex 04
3. c Pontifícia Universidade Católica do Paraná PUCPR , Laboratory of Automation and Systems , R. Imaculada Conceição, 1155, 80215-901 , Curitiba , Brazil