1. Department of Control and Computer Engineering, Politecnico di Torino, 10129, Turin, Italy
2. Department of Electrical, Electronic, and Information Engineering, University of Bologna, 40136 Bologna, Italy
3. Department of Information Technology and Electrical Engineering at the ETH Zurich, 8092 Zurich, Switzerland
4. Interuniversity Department of Regional and Urban Studies and Planning, Politecnico di Torino, 10129, Turin, Italy