[1] Department of Computer and Information Science, Linköping University, Linköping
[2] Saab Kockums, Malmö
[3] Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm
[4] Department of Computer Science, Lund University, Lund
[5] Saab Combitech AB, Linköping
[6] Division of Automatic Control, Department of Electrical Engineering, Linköping University, Linköping