1. Department of Computer Science, KU Leuven 1 , Celestijnenlaan 200A, 3001 Leuven, Belgium
2. Department of Mechanical Engineering, KU Leuven 2 , Celestijnenlaan 300, 3001 Leuven, Belgium
3. Bernoulli Institute for Mathematics, Computer Science and Artificial Intelligence, University of Groningen 3 , Nijenborgh 4, NL-9747 AG Groningen, Netherlands