1. Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, People’s Republic of China
2. Center for Mathematical Biology, University of Pennsylvania, Philadelphia, PA 19104, USA
3. Department of Mathematics, University of Pennsylvania, Philadelphia, PA 19104, USA
4. Department of Biology, University of Pennsylvania, Philadelphia, PA 19104, USA
5. Center for Multi-Agent Research, Institute for Artificial Intelligence, Peking University, Beijing 100871, People’s Republic of China