> For the complete documentation index, see [llms.txt](https://carec.gitbook.io/carec-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://carec.gitbook.io/carec-docs/documentation/architecture/safety-supervisor-architecture.md). # Safety Supervisor Architecture The independent safety layer between requested movement and wheelchair actuation. The safety supervisor is the final software authority before motion reaches the drive interface. ## Inputs * Requested velocity and mobility mode * Emergency-stop and manual-override state * Obstacle and drop-off risk * Localization validity and uncertainty * Sensor, processor, and drive health * Speed, slope, battery, and command age ## Outputs * Authorized, limited, or rejected motion * Intervention reason code * Safe-state request * User/caregiver status * Timestamped diagnostic event The supervisor should use simple deterministic rules, remain independent of Wi-Fi or cloud services, bound speed and acceleration by mode and environment, and default to no autonomous motion when required inputs are invalid. --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://carec.gitbook.io/carec-docs/documentation/architecture/safety-supervisor-architecture.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.