1 GEPI Research Group, School of Engineering - IQS, Universitat Ramon Llull, Barcelona, Spain.
2 Robotics and Technology of Computers Lab (RTC), ETSI Informática, Universidad de Sevilla, Sevilla, Spain.
3 Laboratoire Lorrain de Recherche en Informatique et ses Applications, Centre National de la Recherche Scientifique, Université de Lorraine, Nancy, France.
4 Department of Automation, Electronics and Computing Architecture and Networks, University of Cadiz, Puerto Real, Spain.