1. Production Engineering Department, Universidade Federal Fluminense, Niteroi RJ 24210-240, Brazil;
2. Laboratory of Computer Science, Robotics and Microelectronics of Montpellier, Centre National de la Recherche Scientifique, University of Montpellier, CNRS, France;
3. Bordeaux Research Center, INRIA, 33405 Talence, France;
4. Atoptima, SAS, Bordeaux, France, 33000