ATRS - A Technology-Based Solution to Automobility for Wheelchair Users. - Chao Gao; Ira Hoffman; Thomas Panzarella; John R. Spletzer (FSR, 2007)

Autonomous docking of a smart wheelchair for the Automated Transport and Retrieval System (ATRS). - Chao Gao; Thomas H. Miller; John R. Spletzer; Ira Hoffman; Thomas Panzarella (J. Field Robotics, 2008)