1. Future Mobility Research Division, Toyota Research Institute North America, 1555 Woodridge Avenue, Ann Arbor, MI 48105; John A. Paulson School of Engineering and Applied Sciences, Harvard University, 60 Oxford Street, Cambridge, MA 02138
2. John A. Paulson School of Engineering and Applied Sciences, Harvard University, 60 Oxford Street, Cambridge, MA 02138
3. Abbott and James Lawrence Professor of Engineering, John A. Paulson School of Engineering and Applied Sciences, Harvard University, 323 Pierce Hall, 29 Oxford Street, Cambridge, MA 02138