1. Grado Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, USA
2. School of Information, University of Michigan, Ann Arbor, MI, USA
3. Robotics Department, University of Michigan, Ann Arbor, MI, USA
4. School of Information; Robotics Department, University of Michigan, Ann Arbor, MI, USA
5. Department of Biomedical Engineering, George Washington University, Washington, DC, USA