[1] Decentralized Information Group, Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge,MA, United States
[2] Tetherless World Constellation, Department of Cognitive Science, Rensselaer Polytechnic Institute, Troy,NY, United States
[3] Institute for Data Exploration and Applications, Tetherless World Constellation, Department of Cognitive Science, Rensselaer Polytechnic Institute, Troy,NY, United States