[1] Fac Sci Monastir, Dept Math, Monastir 5019, Tunisia
[2] Univ Lille Nord France, F-59000 Lille, France
[3] FR CNRS 2956, UVHC, LAMAV, F-59313 Valenciennes, France
[4] Nancy Univ, Inst Elie Cartan Nancy IECN, F-54506 Vandoeuvre Les Nancy, France
[5] INRIA Project Team CORIDA, F-54506 Vandoeuvre Les Nancy, France