  Retention of residual skills for persons who partially lose their cognitive
or physical ability is of utmost importance. Research is focused on developing
systems that provide need-based assistance for retention of such residual
skills. This paper describes a novel cognitive collaborative control
architecture C3A, designed to address the challenges of developing need- based
assistance for wheelchair navigation. Organization of C3A is detailed and
results from simulation of the proposed architecture is presented. For
simulation of our proposed architecture, we have used ROS (Robot Operating
System) as a control framework and a 3D robotic simulator called USARSim
(Unified System for Automation and Robot Simulation).
