1. Department of Electrical and Computer Engineering, Francis College of Engineering, University of Massachusetts Lowell, 1 University Ave, Lowell, MA 01854, USA
2. Department of Electrical and Computer Engineering, Francis College of Engineering, University of Massachusetts Lowell, 1 University Ave, Lowell, MA 01854, USA (Corresponding author), e-mail: jay_weitzen@uml.edu, https://orcid.org/0000-0002-7576-6698
3. New England Robotics Validation and Experimentation Center, University of Massachusetts Lowell, 110 Canal St., Lowell, MA 01852, USA, https://orcid.org/0000-0002-6127-4588