[1] Firat Univ, Dept Mechatron Engn, TR-23119 Elazig, Turkey
[2] Univ Michigan, Dept Elect Engn & Comp Sci, Robot Inst, Ann Arbor, MI 48109 USA
[3] Univ Michigan, Dept Naval Architecture & Marine Engn, Robot Inst, Ann Arbor, MI 48109 USA
[4] Chalmers Univ Technol, Div Vehicle Engn & Autonomous Syst, Dept Mech & Maritime Sci, S-41296 Gothenburg, Sweden
[5] Bogazici Univ, Dept Comp Engn, TR-34342 Istanbul, Turkey
[6] Natl Taiwan Normal Univ, Dept Elect Engn, Educ Robot Ctr, Taipei 10610, Taiwan
[7] Bogazici Univ, Dept Elect & Elect Engn, TR-34342 Istanbul, Turkey
[8] Univ Technol Sydney, Robot Inst, Sch Mech & Mechatron Engn, Sydney, NSW 2007, Australia