Czech Technical University, Department of Cybernetics, Prague, 166 27, Czech Republic. szaboand@fel.cvut.cz|Czech Technical University, Department of Cybernetics, Prague, 166 27, Czech Republic. szaboand@fel.cvut.cz|Czech Technical University, Department of Cybernetics, Prague, 166 27, Czech Republic. szaboand@fel.cvut.cz|Czech Technical University, Department of Cybernetics, Prague, 166 27, Czech Republic. szaboand@fel.cvut.cz