This research is funded in part by the U.S. National Science Foundation (IIS-1636933, ACI-1429160, and IIS-1110868), U.S. Office of Naval Research (N00014-10-1-0091, N00014-14-1-0489, N00014-15-P-1187, N00014-16-1-2016, N00014-16-1-2412, N00014-17-1-2605, N00014-17-1-2675), U.S. Air Force Research Lab, U.S. Army Research Office (W911NF-16-1-0189), U.S. Defense Advanced Research Projects Agency (W31P4Q-17-C-0059) and the Jerry L. Maulden/Entergy Endowment at the University of Arkansas at Little Rock. The authors thank the three anonymous referees whose comments were immensely helpful in improving this paper.