1. Robotics Institute, Khalifa University of Science, Technology and Research, Abu Dhabi 127788, UAE e-mail:
2. School of Natural and Mathematical Sciences, King’s College London, University of London, London WC2R 2LS, UK
3. Robotics Institute, Khalifa University of Science, Technology and Research, Abu Dhabi 127788, UAE
4. Faculty of Science and Technology, Institute of Systems and Robotics, University of Coimbra, Coimbra 3030-790, Portugal
5. Aerospace Research and Innovation Center, Khalifa University of Science, Technology and Research, Abu Dhabi 127788, UAE