@INPROCEEDINGS{wang2021s2p2,
  author={Hengli Wang and Yuxiang Sun and Rui Fan and Ming Liu},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={S2P2: Self-Supervised Goal-Directed Path Planning Using RGB-D Data for Robotic Wheelchairs}, 
  year={2021},
  volume={},
  number={},
  pages={11422-11428},
  doi={10.1109/ICRA48506.2021.9561314}}