1. Department of Computer Science, Chiba Institute of Technology, Narashino, Chiba, Japan
2. Department of Information Science, Faculty of Science, Toho University, Funabashi, Chiba, Japan
3. Graduate School of Applied Informatics, University of Hyogo, Kobe, Hyogo, Japan
4. Department of Robotic Science and Technology, Chubu University, Kasugai, Aichi, Japan
5. Department of Management Information Science, AI & IoT Center, Fukui University of Technology, Fukui, Fukui, Japan