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This paper extends the gap-based navigation technique Potential Gap with safety guarantees at the local planning level for a kinematic planar nonholonomic robot model, leading to Safer Gap . It relies on a subset of navigable free space from the robot to a gap, denoted the keyhole region. The region is defined by the union of the largest collision-free disc centered on the robot and a collision-free trapezoidal region directed through the gap. Safer Gap first generates Bézier-based collision-free paths within the keyhole regions. The keyhole region of the top scoring path is encoded by a shallow neural network-based zeroing barrier function (ZBF) synthesized in real-time. Nonlinear Model Predictive Control (NMPC) with Keyhole ZBF constraints and output tracking of the Bézier path, synthesizes a safe kinematically feasible trajectory. The Potential Gap projection operator serves as a last action to enforce safety if the NMPC optimization fails to converge to a solution within the prescribed time. Simulation and experimental validation of Safer Gap confirm its collision-free navigation properties. 

Given the challenges of wayfinding in large indoor built environments, especially for persons with disabilities (PWDs), a new class of accessible technologies called built environment accessible technologies (BEAT) are being developed. Such technologies are envisioned to help achieve product and opportunity parity for PWDs. The impact and adoption of these BEATs depends largely on clear and quantifiable (tangible and intangible) economic benefits accrued to the end-users and stakeholders. This paper describes the results of a survey conducted to measure potential benefits in terms of quality of life and quality of work life (work productivity) by increased accessibility provisions within built environments as it relates to navigation for PWDs and those without disabilities. Results of this work indicate that BEATs have the greatest potential to improve mobility and exploratory activities for people with disabilities, exploratory activities for people without disabilities, and improve job security for everyone.