1. Delft Center for Systems and Control, Delft University of Technology, 2628 CD Delft, Netherlands; and Informatics and Telematics Institute, Center for Research and Technology Hellas (ITI-CERTH), 57001 Thessaloniki, Greece
2. Informatics and Telematics Institute, Center for Research and Technology Hellas (ITI-CERTH), 57001 Thessaloniki, Greece
3. Informatics and Telematics Institute, Center for Research and Technology Hellas (ITI-CERTH), 57001 Thessaloniki, Greece; and Department of Production Engineering and Management, Technical University of Crete, 73100 Chania, Greece
4. Department of Electrical and Computer Engineering, Democritus University of Thrace, 67100 Xanthi, Greece