1. Mobility and Logistics, TNO, Van Mourik Broekmanweg 6, 2628 XE Delft, The Netherlands
2. Department of Mathematics, Utrecht University, Budapestlaan 6, 3508 TA Utrecht, The Netherlands
3. Department of Computer Science, Concordia University, 1455 Boulevard de Maisonneuve O., Montreal, Quebec, H3G 1M8, Canada