1. Faculty of Control Systems and Robotics, ITMO University, Saint Petersburg, Russia
2. Inria, CNRS, UMR 9189 - CRIStAL, University of Lille, Lille, France
3. CNRS, Centrale Lille, UMR 9189 CRIStAL, University of Lille, Lille, France
4. IPME RAS, St. Petersburg, Russia