1. University of Konstanz,Department of Computer and Information Science,Konstanz,Germany,78457
2. Institute of Computer Engineering, University of Lübeck,Lübeck,Germany
3. Institute for Systems Theory and Automatic Control, University of Stuttgart,Stuttgart,Germany
4. Memorial University of Newfoundland,Department of Computer Science and the Department of Electrical and Computer Engineering,St. John’s,Canada
5. University of Konstanz,Centre for the Advanced Study of Collective Behaviour,Germany