1. Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China
2. Department of Biology, University of Pennsylvania, Philadelphia, PA 19104
3. Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
4. Ministry of Education of China, Key Laboratory of System Control and Information Processing, Shanghai 200240, China
5. Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai 200240, China
6. Center for Multi-Agent Research, Institute for Artificial Intelligence, Peking University, Beijing 100871, China
7. Center for Mathematical Biology, University of Pennsylvania, Philadelphia, PA 19014