[1] School of Information Science and Engineering, Northeastern University, Shenyang 110819, China
[2] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Acad. of Sci., Shenyang 110016, China
[3] Graduate University of the Chinese Acad. of Sci., Beijing 100049, China
[4] School of Information and Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China