Nascimento, Luís, Joelson Rocha-Júnior, Vitor Santos, Diego Pereira, Pablo Alsina, and Anselmo Frizera-Neto. " Fast and Safe Path Planning Method for an Autonomous Smart Walker." Proceedings of the 12th Brazilian Symposium on Robotics and 17th Latin American Robotics Symposium, Natal, 2020. SBC, 2020, pp.84-89.