Taha Yassine, IRT bcom, France; Baptiste Chatelier, INSA Rennes, Mitsubishi electric research center Europe, France; Vincent Corlay, Mitsubishi electric research center Europe, France; Matthieu Crussière, INSA Rennes, France; Stéphane Paquelet, IRT bcom, France; Olav Tirkkonen, Aalto University, Finland; Luc Le Magoarou, INSA Rennes, France