> 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/system-architecture.md).

# System Architecture

```mermaid
flowchart TD
    C["Child or caregiver input"] --> A["Command arbitration"]
    S["Sensors"] --> P["Perception"]
    P --> L["Localization"]
    L --> N["Navigation"]
    N --> A
    E["E-stop and health monitors"] --> A
    A --> G["Safety gate"]
    G --> M["Bounded motion command"]
    M --> W["Wheelchair drive interface"]
```

The safety gate is the only path to a motion command. Autonomous components propose motion; they do not directly drive the wheelchair.


---

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