1. Federal Univer-sity of Vicosa,Núcleo de Especialização em Robótica, Graduate Program on Computer Science,Department of Electrical Engineering,Vicosa,MG,Brazil
2. Federal University of Vicosa,Graduate Program on Computer Science,Vicosa,MG,Brazil
3. Czech Technical University in Prague,Multi-robot Systems Group, Faculty of Electrical Engineering,Department of Cybernetics,Czech Republic