1. ITMO University,Faculty of Control Systems and Robotics,Saint Petersburg,Russia,197101
2. Valse Team, Inria, Univ. Lille, CNRS, UMR 9189 - CRIStAL,Lille,France,F-59000
3. Univ. Lille, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000
4. IPME RAS, V.O,St. Petersburg,Russia,199178