1. Department of Computer Science, University of Helsinki, Helsinki, Finland
2. Robotic Engineer, GIM Robotics, Espoo, Finland
3. Catholic University of Murcia, Guadalupe, Spain
4. Department of Information Technology and Telematic Systems Engineering, University of Extremadura, Cáceres, Spain
5. Department of Informatics and Telematics System Engineering, University of Extremadura, Cáceres, Spain
6. Software Engineering, University of Jyväskylä, Jyväskylä, Finland
7. University of Jyväskylä, Jyväskylä, Finland