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. Institut de Recherche pour le Développement, CIRAD, University of Montpellier, Montpellier, France
4. Department of Electronics and Automation, Universidad Autónoma de Manizales, Manizales, Caldas, Colombia