1. The Faculty of Engineering, Environment and Computing, Coventry University, Coventry CV1 5FB, UK
2. School of Electronic Engineering and Computer Science, Queen Mary University of London, London E1 4NS, UK
3. The Centre for Future Transport and Cities, Coventry University, Coventry CV1 2TE, UK
4. Department of Computer Science, Nottingham Trent University, Clifton Campus, Nottingham NG11 8NS, UK