1. Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA
2. Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science & Technology University, Beijing, China
3. Department of Electrical & Computer Engineering, College of Engineering, Northeastern University, Boston, MA, USA
4. Security and Optimization for Networked Globe Laboratory (SONG Lab), Embry-Riddle Aeronautical University, Daytona Beach, FL, USA
5. School of Computer Science and Engineering, University of Electronic Science and Technology, Chengdu, China