1. Department of Computer Science and Electrical Engineering, University of Maryland Baltimore County, 1000 Hilltop Circle, Baltimore, MD 21250, USA, E-mail: fadali@engr.umbc.edu, bbakal1@engr.umbc.edu
2. Institute for Systems Research, University of Maryland College Park, MD 20742, USA, E-mail: kemal@isr.umd.edu
3. Simulation, Systems & Services (S3) Technologies Company, Columbia, MD 21045, USA, E-mail: rfakory@s3tech.com