1. School of Industrial Engineering, Purdue University, West Lafayette, IN, USA
2. School of Engineering Technology, Purdue University, West Lafayette, IN, USA
3. School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA
4. Robotic Systems Department, SRI Robotics Laboratory, Menlo Park, CA, USA
5. Robotic Systems Department, Foothills Medical Centre, Calgary, Canada
6. Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA
7. Department of Computer Science, Purdue University, West Lafayette, IN, USA