1. Key Laboratory of Symbolic Computation and Knowledge Engineer of Ministry of Education and the School of Artificial Intelligence, Jilin University, Changchun, China
2. School of Artificial Intelligence, Jilin University, Changchun, China
3. Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an, China
4. Department of Computer Science and Engineering, Lehigh University, Bethlehem, PA, USA
5. Key Laboratory of Symbolic Computation and Knowledge Engineer of Ministry of Education and the School of Computer Science and Technology, Jilin University, Changchun, China