1. Department of Computer Science, Università degli Studi di Milano, 20133 Milan, Italy;
2. School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Ontario K1N 6N5, Canada;
3. Istituto Italiano di Tecnologia, 16163 Genoa, Italy;
4. Department of Computer, Control, and Management Engineering “Antonio Ruberti”, Sapienza University of Rome, 00185 Rome, Italy