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An important aspect to be taken care of while designing assistive robots for mobility is that they need to operate among humans. Thus understanding human spatial social conventions and incorporating them in the assistive solutions, is important. In this paper, we introduce a semi-autonomous framework for assistive wheelchair navigation in human environments, which is driven by the intention of the wheelchair user. Safe and socially compliant motion provided by a user intention driven localdoi:10.1109/iros.2016.7759691 dblp:conf/iros/NarayananSB16 fatcat:3m7y5xzzlndyrmotecwzaysdwy