* Manuscript accepted at 2020 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS). Received March 1, 2020. Typos
corrected Access Paper or Ask Questions
* ICRA 2020. C 2019 IEEE. Personal use of this material is permitted.
Permission from IEEE must be obtained for all other uses, in any current or
future media, including reprinting/republishing this material for advertising
or promotional purposes, creating new collective works, for resale or
redistribution to servers or lists, or reuse of any copyrighted component of
this work in other works Access Paper or Ask Questions