# NOVA Mobility Assistive System: Developed and Remotely Controlled with IOPT-Tools
## 3 Related Work  
The term smart city has been widely defined. In [13], a smart city was defined as a city that uses information and communication technologies (ICTs), integrated with traditional infrastructures, to provide technical assistance and share information. ICTs, such as the Internet of Things (IoT) and Internet of Everything (IoE) [40] technologies, have great impact on smart cities. Bluetooth Low Energy (BLE) [41] has been used in smartphones and smartwatches for people monitoring, and in BLE beacons (applied to indoor location systems [42]). Wi-Fi is used for monitoring [43; 44] and control systems [45], as well as in security, for user authentication [46], among other examples. The aim is to improve the city's environment and promote people's quality of life. In [47], the authors remind us that it is important not to forget people with disabilities and the elderly. A set of related works and technologies, which can support mobility assistive systems, are presented in this section. Next, works to assist the navigation of power wheelchairs on public roads is presented. Subsequently, works to support communication between infrastructure elements and vehicles are presented. Finally, the presented works are compared with this paper's proposals. Some web and mobile applications have been proposed in order to provide information about obstacles, barriers, and routes, for wheelchair users to take into account. Wheelmap [48] and EasyGo [18] provide information regarding places that are accessible, based on data provided by users. These apps can also provide routes, where EasyGo informs about the barriers and facilities that appear on the way using the user's GPS location, as well as EasyWheel [49], which provides routes around obstacles. WEMAP [16] intends to improve these offers, generating door-to-door routes, using crowdsourcing data and information from local businesses' websites. mPASS system [50], WheelShare [51], and Wegoto [52] collect crowdsensing data, taking advantage of the sensory and computational resources of smartphones. When users are on the move, the data provided by accelerometers and gyroscopes is related to their physical location using GPS. In [51], the smartphone transmits the data to a server via Wi-Fi. Moving wheels [53] and SmartWheels [54] also use sensors to identify urban features from users' movement. The authors of WheelScout [42] use Ibeacons to also provide routes within buildings. In general, these works have similarities and improve the accessibility of wheelchair and scooter users; however, the works still do not consider their safe interaction with other individuals and vehicles present on the roads. Over the past few years, several actions have been taken to increase road safety. Many of these actions are in the scope of Intelligent Transportation Systems (ITS) [55], whose main focus is the development of applications that increase the convenience and safety of vehicle users [56], such as in traffic management [57] or pedestrian detection [58]. Most of the existing applications are based on the recognition of traffic signs and obstacles. ITS also focuses on the development of infrastructure elements and vehicles, in order to make possible the communication between them. The need to create complementary and alternative systems, to also consider assistive vehicles on public roads, arises. CVIS (Cooperative Vehicle-Infrastructure Systems) [59], COOPERS (Co-operative Networks for Intelligent Road Safety) [60], and SAFESPOT (Cooperative Systems for Road Safety) [61] were three major European projects that dealt with the interaction among vehicles and infrastructure elements [62]. The CVIS objective was the creation of a wireless network between vehicles and infrastructure elements that supports their collaboration to increase road safety and efficiency.