[1] Univ Sydney, Sch Aerosp Mech & Mechatron Engn, Australian Ctr Field Robot, Sydney, NSW 2006, Australia
[2] Australian Natl Univ, Res Sch Engn, Canberra, ACT 0200, Australia
[3] Linkoping Univ, Dept Elect Engn, Div Automat Control, SE-58183 Linkoping, Sweden
[4] Univ Maryland, Inst Syst Res, College Pk, MD 20742 USA
[5] Univ Maryland, Dept Elect & Comp Engn, College Pk, MD 20742 USA