1. Autonomous Systems Laboratory, Stanford University, Stanford, CA 94305 USA; USRA Research Institute for Advanced Computer Science (RIACS), Mountain View, CA 94043 USA; NASA Quantum Artificial Intelligence Laboratory (QuAIL), Moffett Field, CA 94035 USA.
2. Corresponding author. USRA Research Institute for Advanced Computer Science (RIACS), Mountain View, CA 94043 USA; NASA Quantum Artificial Intelligence Laboratory (QuAIL), Moffett Field, CA 94035 USA; Davidson School of Chemical Engineering, Purdue University, West Lafayette, IN 47907 USA.
3. USRA Research Institute for Advanced Computer Science (RIACS), Mountain View, CA 94043 USA; NASA Quantum Artificial Intelligence Laboratory (QuAIL), Moffett Field, CA 94035 USA.
4. Autonomous Systems Laboratory, Stanford University, Stanford, CA 94305 USA.