Autonomous robotic algorithms have the potential to significantly enhance the independence and improve the quality of life for individuals with motor impairments. While powered wheelchairs exist, their navigation remains challenging due to the complexities of control interfaces and the risks associated with unsafe maneuvering. As a result, many individuals who could benefit from these devices find them inaccessible or difficult to use. 

Our work focuses on developing intelligent autonomous behaviors that assist users with essential but challenging tasks. While previous efforts have addressed doorway traversal and docking, we present a novel algorithm for ramp traversal and drop-off detection. These capabilities are critical for safe and autonomous navigation in complex urban environments.