**4. Results**

In this section, we present the obtained results both in the simulated and real environments. In Section 4.1, some general design considerations are given. Section 4.2 details the results obtained for an extensive set of experiments in the simulated environment, which serve as a validation of the system performance both in nominal and more demanding conditions. Finally, in Section 4.3, we present some qualitative real-world experiments to demonstrate that our system can be deployed in real robotic platforms.
