1. Department of Computer Science, Universidad Autónoma de Manizales, Manizales, Caldas, Colombia
2. Department of Systems and Informatics, Universidad de Caldas, Manizales, Caldas, Colombia
3. Department of Electronics and Automation, Universidad Autónoma de Manizales, Manizales, Caldas, Colombia
4. Institut de Recherche pour le Développement, CIRAD, Univ. Montpellier, Montpellier, France