1. Department of Computer Science, North Dakota State University, Fargo, ND 58108, USA
2. School of Engineering, Saint Louis University, Saint Louis, MO 63103, USA
3. Hawaii Space Flight Laboratory, University of Hawaii at Manoa, Honolulu, HI 96822, USA
4. Department of Mechanical Engineering and Aeronautics, University of Patras, Patras 26504, Greece