1. University of California, Berkeley Department of Mechanical Engineering, , Berkeley, CA 94720
2. University of California Department of Mechanical Engineering, , Berkeley, CA 94720
3. Jet Propulsion Laboratory Autonomous Systems Division, Power Systems & Technology Section, Jet Propulsion Laboratory, , Pasadena, CA 91109
4. California Institute of Technology Autonomous Systems Division, Power Systems & Technology Section, Jet Propulsion Laboratory, , Pasadena, CA 91109