Article 3

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Journal of Intelligent and Robotic Systems 22: 233-253, 1998.
link to article: https://link.springer.com/content/pdf/10.1023%2FA%3A1007944531532.pdf

This is an older article (1997) which has researched the practical use of an automated wheelchair with various sensors. The idea was to create a wheelchair which could manoeuvre itself through tightly-packed environments, by using simple control inputs from elderly or disabled people that require vocational rehabilitation.
The many sensors combined allow for the wheelchair to "scan" its direct environment and ensure swift, precise and safe mobility.