1. Network Engineering & Security Group , Department of Signal Theory, Communications and Telematics, CITIC-University of Granada, 18014, Granada, Spain , rmagan@ugr.es
2. Grupo de Inteligencia Computacional Aplicada (GICAP) , Departamento de Digitalización, Escuela Politécnica Superior, Universidad de Burgos, Av. Cantabria s/n, 09006, Burgos, Spain , durda@ubu.es
3. Applied Robotics Group , Department of Automatic, Electronic, Computer Architecture and Com. Net. Engineering, University of Cádiz, 11519, Puerto Real, Cádiz, Spain , ignacio.diaz@uca.es
4. Graphical Methods , Optimization & Learning (GOAL) Group, Department of Computer Engineering, University of Cádiz, 11519, Puerto Real, Cádiz, Spain; School of Computer Science, Faculty of Engineering, The University of Sydney, 2008, Darlington, NSW, Australia , bernabe.dorronsorodiaz@sydney.edu.au