[1] KTH Royal Inst Technol, Automat Control Lab, Stockholm, Sweden
[2] CALTECH, Pasadena, CA 91125 USA
[3] MIT, Dept Civil & Environm Engn, Cambridge, MA 02139 USA
[4] Royal Inst Technol, KTH ACCESS Linnaeus Ctr, Stockholm, Sweden
[5] Royal Inst Technol, Sch Elect Engn, Stockholm, Sweden
[6] Stockholm Strateg Res Area ICT Next Generat, Stockholm, Sweden