1. Bialystok University of Technology, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Bialystok, Poland
2. School of Information Technologies, Department of Software Science, Tallinn University of Technology, 12618 Tallinn, Estonia
3. University of Akron, Department of Electrical and Computer Engineering, Akron, Ohio 44325, USA