[1] INRIA Grenoble Rhone Alpes, Erable Team, 655 Ave Europe, F-38330 Montbonnot St Martin, France
[2] Univ Lyon 1, CNRS, UMR 5558, F-69622 Villeurbanne, France
[3] Univ Paris Est, LIGM UMR 8049, ESIEE Paris, CNRS,UPEM,ENPC, F-77454 Marne La Vallee, France
[4] Sapienza Univ Rome, Rome, Italy
[5] Vrije Univ Amsterdam, Amsterdam, Netherlands
[6] CWI, Amsterdam, Netherlands
[7] Univ Lisbon, IDMEC, Inst Super Tecn, P-1049001 Lisbon, Portugal