[1] Massachusetts Inst. of Technology, Cambridge, MA 02139, United States
[2] Dept. of Aero. and Astronautics, Massachusetts Inst. of Technology, Cambridge, MA, United States
[3] University of Washington, Seattle, WA, United States
[4] Massachusetts Inst. of Technology, Cambridge, MA, United States
[5] Charles Stark Draper Laboratory, Cambridge, MA, United States