An Assistive Navigation System for Wheelchairs Based upon Mobile Robot Obstacle Avoidance. - David A. Bell; Johann Borenstein; Simon P. Levine; Yoram Koren; Lincoln A. Jaros (ICRA, 1994)

NavChair: An Assistive Wheelchair Navigation System with Automatic Adaptation. - Richard C. Simpson; Simon P. Levine; David A. Bell; Lincoln A. Jaros; Yoram Koren; Johann Borenstein (Assistive Technology and Artificial Intelligence, 1998)