1. Óbuda University,Doct. School of Appl. Inf. and Appl. Math. Bánki Donát Faculty of Mechanical and Safety Engineering,Budapest,Hungary
2. Óbuda University,Bánki Donát Faculty of Mechanical and Safety Engineering,Budapest,Hungary
3. Óbuda University,Doct. School of Appl. Inf. and Appl. Math. Antal Bejczy Center for Intelligent Robotics John von Neumann Faculty of Informatics,Budapest,Hungary