1. Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milan, Italy
2. NATO STO Centre for Maritime Research and Experimentation (CMRE), La Spezia, Italy
3. Ibeo Automotive Systems GmbH, Hamburg, Germany
4. Dipartimento di Ingegneria Gestionale (DIG), Politecnico di Milano, Milan, Italy
5. University of Connecticut, Storrs, CT, USA
6. Laboratory for Information and Decision Systems (LIDS), Massachusetts Institute of Technology (MIT), Cambridge, MA, USA