1. Electrical and Computer Engineering, University of Florida, 3463 Gainesville, Florida, United States, (e-mail: btilmon@ufl.edu)
2. Computer and Information Science and Engineering, University of Florida, Gainesville, Florida, United States, (e-mail: ejain@cise.ufl.edu)
3. Mechanical and Aerospace Engineering, Cornell University, 5922 Ithaca, New York, United States, (e-mail: sf375@cornell.edu)
4. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, United States, (e-mail: sjkoppal@ece.ufl.edu)