User-Led, Goal-Free Shared Control for Powered Wheelchairs with an Independent Safety Layer

Code, trial records and analysis outputs for a pre-registered simulation evaluation of Bounded-Authority Shared Control (BASC) for powered wheelchairs: goal-free local assistance, a bounded user share and an independent control-barrier-function safety filter. Contains source code at the locked and sweep commits (v1: prereg-v1.1-lock 96b976e; v2: prereg-v2-lock 02f0d0f, sweep a2d430a), all 5,845 trial records from both sweeps, pre-registrations and deviation records, analysis outputs, and figure scripts. The v2 pre-registration is at https://osf.io/69tz4. See README.md for the mapping from each table and figure in the paper to its file and script. Code: MIT; data and documents: CC BY 4.0.