1. School of Software, Dalian University of Technology, No. 2, Linggong Road, Ganjingzi District, Dalian City, Liaoning Province, P. R. China
2. Key Laboratory of Safety-Critical Software, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, P. R. China
3. DUT Artificial Intelligence Institute, Dalian City, Liaoning Province, P. R. China
4. Beijing Institute of Control Engineering, No. 104, Youyi Rd. Haidian District, Beijing, P. R. China