[1] Univ Huddersfield, Sch Comp & Engn, Huddersfield HD13DH, England
[2] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
[3] Beihang Univ, Sch Transportat Sci & Engn, Beijing 100091, Peoples R China
[4] Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence, Beijing 100190, Peoples R China
[5] Macau Univ Sci & Technol, Inst Engn, Macau 999078, Peoples R China