1. Department of Electrical, Electronic, and Information Engineering “Guglielmo Marconi,” 47521 Cesena, Italy;
2. Department of Industrial Systems Engineering and Management, National University of Singapore, Singapore 117576, Singapore;
3. Laboratoire d’Informatique de Paris Nord, Université de Paris 13; and Sorbonne Paris Cité, CNRS (UMR 7538), France;
4. Laboratoire d’Informatique de Paris Nord, Université de Paris 13; and Sorbonne Paris Cité, CNRS (UMR 7538), France
5. Dipartimento di Matematica e Informatica, Università degli Studi di Cagliari, 09124 Cagliari, Italy