[1] Newcastle Univ, Newcastle Upon Tyne, Tyne & Wear, England
[2] Univ Twente, Embedded Syst Inst, Enschede, Netherlands
[3] Aalborg Univ, CISS, Aalborg, Denmark
[4] Aarhus Univ, Aarhus, Denmark
[5] INRIA Renne, Rennes, France
[6] Aalborg Univ, Aalborg, Denmark
[7] CNRS, Verimag, France