Boger, J., Hoey, J., Elinas, P., Mihailidis, A., & Viswanathan, P. (2007). The Future of Wheelchairs: Intelligent Collision Avoidance and Navigation Assistance Geriatrics and Aging, 10. Retrieved from https://www.researchgate.net/publication/235917403_The_Future_of_Wheelchairs_Intelligent_Collision_Avoidance_and_Navigation_Assistance (Original work published 2007)