1. University of Naples Federico II,Department of Industrial Engineering,Naples,Italy
2. University of Bordeaux,IMS Laboratory,Bordeaux,France
3. Herobots S.R.L.,Naples,Italy
4. Univ. of Naples Federico II,Dep. of Elect. Eng. and Inf. Tech.,Naples,Italy
5. Polytechnic University of Turin,Dept. of Elect. and Telecomm.,Turin,Italy
6. Univ. of Naples Federico II,Department of Industrial Engineering,Naples,Italy
7. University of Bordeaux,IMS Laboratory, Bordeaux INP,Bordeaux,France