> 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/autonomous-mobility.md).

# Autonomous Mobility

CAREC approaches autonomy incrementally while preserving manual control.

| Level                  | Capability                                            |
| ---------------------- | ----------------------------------------------------- |
| Manual                 | User directly controls motion                         |
| Monitored manual       | Environmental and system warnings                     |
| Assisted               | Validated limiting, stopping, or alignment assistance |
| Supervised autonomous  | Human selects a destination and can take over         |
| Constrained autonomous | Navigation inside a defined operating domain          |

## Autonomy stack

1. Sense the environment and wheelchair state
2. Estimate pose and uncertainty
3. Build or use an accessibility-aware map
4. Plan a route that fits the wheelchair and environment
5. Generate a local trajectory
6. Arbitrate against manual and caregiver commands
7. Authorize motion through the safety supervisor
8. Monitor progress, recover, or stop safely

A front collision-warning camera supports only part of sensing. Complete autonomy also requires localization, planning, control, drive integration, and system safety.


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