1. University of Naples Federico II,Department of Industrial Engineering,Naples,Italy
2. IMS Laboratory University of Bordeaux,Bordeaux,France
3. Herobots S.R.L.,Naples,Italy
4. Univ. of Naples Federico II,Dep. of Elect. Eng. and Inf. Tech.,Naples,Italy
5. Polytechnic University of Turin,Dept. of Elect. and Telecomm.,Turin,Italy