Glenn S. Wasson James P. Gunderson Sean Graves Robin A. Felder Effective Shared Control in Cooperative Mobility Aids. 509-513 2001 conf/flairs/2001 FLAIRS Conference db/conf/flairs/flairs2001.html#WassonGGF01 http://www.aaai.org/Library/FLAIRS/2001/flairs01-098.php