a Key Laboratory of Intelligent Perception and Image Understanding of the Ministry of Education, International Research Center for Intelligent Perception and Computation, Joint International Research Laboratory of Intelligent Perception and Computation, Xidian University, Xi’an Shaanxi Province 710071, China b School of Technology and Management, Computer Science and Communications Research Centre, Polytechnic Institute of Leiria, 2411-901 Leiria, Portugal c Faculty of Technology, De Montfort University, Gateway House 5.33, The Gateway, LE1 9BH Leicester, UK d Multicriteria Optimization, Design, and Analytics Group, LIACS, Leiden University, Niels Bohrweg 1, 2333-CA Leiden, The Netherlands e Microsoft Research Asia, Beijing 100190, China f Nature Inspired Computation and Applications Laboratory (NICAL), the USTC-Birmingham Joint Research Institute in Intelligent Computation and Its Applications (UBRI), School of Computer Science and Technology, University of Science and Technology of China (USTC), Hefei, Anhui 230027, China