[1] Univ Illes Balears, Inst Appl Comp & Community Code IAC3, Dept Matemat & Informat, Palma De Mallorca, Spain
[2] Univ Genoa, Dept Informat Bioegineering Robot Syst Engn DIBRIS, Genoa, Italy
[3] Univ Politecn Catalunya UPC, Dept Matemat, Barcelona, Spain
[4] Univ Politecn Catalunya UPC, Inst Matemat UPC BarcelonaTech IMTech, Barcelona, Spain
[5] Ctr Recerca Matemat, Barcelona, Spain