* Accepted to the 2021 International Conference on Robotics and
Automation (ICRA 2021). Contains minor updates in Fig. 2 and Section IV.b,
VII.E, VII.F Access Paper or Ask Questions
* Ali-akbar Agha-mohammadi is the Principal Investigator. arXiv admin
note: substantial text overlap with arXiv:2002.00515 Access Paper or Ask Questions