1Institut Gaspard-Monge, Université de Marne-la-Vallée, Cité Descartes, 5 Bd Descartes, Champs-sur-Marne, F-77454 Marne-la-Vallée CEDEX 2, France.
2Dept. Computer Science, King’s College London, London WC2R 2LS, UK.
3School of Computing, Curtin University of Technology, GPO Box 1987 U, Western Australia.
4Dipt. di Elettronica e Informatica, Universita degli Studi di Padova, Via Gradenigo 6/A, Padova 35131, Italy.