An automatic wheelchair locking system including: a first lock for a first wheel; a first persistent driver configured to engage and disengage the first lock; at least one processor configured to control the first persistent driver; and a memory having stored thereon instructions that, when executed by the at least one processor, control the at least one processor to: in response to receiving instructions to disengage the first lock while the first lock is engaged, control the first persistent driver to disengage the first lock; and in response to receiving instructions to engage the first lock while the first lock is disengaged, control the first persistent driver to engage the first lock.