\subsection{Modification in Graphical User Interface}\label{mygui}
The GUI of the wheelchair application was provided with an additional check box labelled, \textquoteleft{Shared Control}', under the \textquoteleft{Control}' field, that becomes active after spawning the wheelchair. If the box is checked prior to pressing the \textquoteleft{Control}' button, shared control functionality will be enabled, else it operates in manual mode by default. This allows changing the mode on the fly between manual and shared control without having to spawn the wheelchair again. 