1. Department of Information Engineering, University of Florence, 50139 Florence, Italy
2. Department of Electronics, Information and Bioengineering, Polytechnic of Milan, 20133 Milan, Italy
3. Institute for Applied Mathematics and Information Technologies “E. Magenes”, National Research Council, 20133 Milan, Italy
4. Department of Statistics, Computer Science, Applications “G. Parenti”, University of Florence, 50134 Florence, Italy
5. Institute of Sciences and Technologies for Energy and Sustainable Mobility, National Research Council, 80125 Naples, Italy