1. Computer Science Department, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213;
2. H. Milton Stewart School of Industrial & Systems Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332;
3. Department of Electrical and Computer Engineering & Coordinated Science Lab, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801;
4. Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, Michigan 48109