1. Department of Control for Transportation and Vehicle Systems, Faculty of Transportation Engineering and Vehicle Engineering, Budapest University of Technology and Economics, Budapest, Hungary
2. Department of Mathematical Sciences, Chalmers University of Technology, Gothenburg, Sweden
3. Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden
4. Department of Civil, Architectural and Environmental Engineering, University of Naples Federico II, Naples, Italy
5. Systems and Control Laboratory, Institute for Computer Science and Control (SZTAKI), Budapest, Hungary