1. Dependable Embedded Systems Team, Ikerlan, José María Arizmendiarrieta, 2, 20500 Arrasate, Spain
2. Robotics & Automation Research Group, Mondragon Unibertsitatea, Loramendi Kalea, 4, 20500 Arrasate, Spain
3. Department of Electronic Technology, University of the Basque Country (UPV-EHU), Torres Quevedo Ingeniariaren Enparantza, 1, 48013 Bilbao, Spain