[1] Rensselaer Polytech Inst, Dept Ind & Syst Engn, Troy, NY 12180 USA
[2] Univ Florida, Dept Ind & Syst Engn, Gainesville, FL 32611 USA
[3] Univ Michigan, Dept Ind & Operat Engn, Ann Arbor, MI 48109 USA
[4] Univ Calif Berkeley, Dept Ind Engn & Operat Res, Berkeley, CA 94720 USA