[1] Katholieke Univ Leuven, Dept Comp Sci, Celestijnenlaan 200A, B-3001 Leuven, Belgium
[2] Katholieke Univ Leuven, Dept Mech Engn, Celestijnenlaan 200A, B-3001 Leuven, Belgium
[3] Univ Groningen, Bernoulli Inst Math Comp Sci & Artificial Intelli, Nijenborgh 4, NL-9747 AG Groningen, Netherlands
[4] Univ Groningen, Groningen Cognit Syst & Mat Ctr, Nijenborgh 4, NL-9747 AG Groningen, Netherlands