1. Programa de Doctorado de Automática y Robótica, Universidad Politécnica de Madrid (UPM), 28006 Madrid, Spain
2. IE School of Sciences and Technology, P. Castellana, 259E, 28046 Madrid, Spain
3. Centre for Automation and Robotics (CSIC-UPM), Ctra. M300 Campo Real, Km 0,200, Arganda del Rey - 28500 Madrid, Spain