Development at the Colorado School of Mines was supported in part by NSF CNS-1823245, the ARL DCIST CRA W911NF-17-2-0181, and Colorado School of Mines funds.

Development at Rice University was supported in part by NSF CCF-1514372, NSF CCF-1139011, NSF IIS-1317849, and Rice University Funds.

Development at Georgia Tech was supported in part NSF CNS-1146352, NSF CNS-1059362, and a grant from Peugeot S.A.