1. Automatic Control Laboratory, Department of Information Technology and Electric Engineering, ETH Zürich (Eidgenössische Technische Hochschule Zürich), 8092 Zürich, Switzerland;
2. Institute for Dynamic Systems and Control, Department of Mechanical and Process Engineering, ETH Zürich (Eidgenössische Technische Hochschule Zürich), 8092 Zürich, Switzerland;
3. Laboratory for Human-Oriented Mobility Eco-system School of Architecture, Civil and Environmental Engineering, EPFL (École Polytechnique fédérale de Lausanne), 1015 Lausanne, Switzerland