1. Department of Department of Control and Computer Engineering, Politecnico di Torino, Turin, Italy
2. Department of Industrial Engineering, University of Trento, Trento, Italy
3. Institut National de Recherche en Sciences et Technologies du Numérique (INRIA), Campus de Beaulieu, Rennes, France
4. Department of Applied Informatics, Federal University of Rio Grande do Sul, Porto Alegre, Brazil