diff --git a/doc/architecture/README.md b/doc/architecture/README.md
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+
+# Architecture Documentation
+
+This section describes the architecture of the racecar system.
+
+## Overview
+
+The system is built using a modular ROS2 architecture that supports both:
+
+- Simulation (Gazebo)
+- Real vehicle hardware (Racecar)
+
+The same control flow is reused for both environments.
+
+---
+
+## Architecture Diagrams
+
+- [System Context](context.md)  
+  High-level view of how the system interacts with users and external systems.
+
+- [Component Map](components.md)  
+  Internal structure of the system and relationships between modules.
+
+- [Sequence Diagram](sequences.md)  
+  Step-by-step of the most complex core logic flow through the system.
+
+---
+
diff --git a/doc/architecture/components.md b/doc/architecture/components.md
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+
+# Component Map
+
+This diagram shows the relationship between the major modules of the system.
+
+```mermaid
+
+flowchart LR
+
+    User[User]
+
+%% --------------------
+%% INPUT INTERFACES
+%% --------------------
+    subgraph Input [Input Interfaces]
+        Control["(Joystick / Web Interface)"]
+    end
+
+%% --------------------
+%% ROS SYSTEM
+%% --------------------
+    subgraph ROS [ROS2 System]
+        direction LR
+%% Control (grouped)
+    subgraph Controls [Arduino Motor Controls]
+        direction LR
+        SpeedControl[SpeedControl]
+        PositionControl[PositionControl]
+        Openloop[Openloop]
+    end
+
+%% Perception
+        subgraph Perception [Perception]
+            Lidar[Lidar]
+            Camera[Camera]
+        end
+
+%% Odometry / state
+        subgraph State [Odometry]
+            direction LR
+            IMU[IMU]
+            Encoder[Wheel Encoder]
+            Steering[Steering Angle]
+        end
+
+%% Navigation / decision
+    subgraph Navigation [Navigation Algorithms]
+        direction LR
+        SLAM[SLAM]
+        Blob[Blob Detection]
+        Brushfire[Brushfire]
+        Autopilot[Autopilot]
+    end
+
+end
+
+%% --------------------
+%% EXECUTION
+%% --------------------
+    subgraph Execution [Execution Systems]
+        direction LR
+        Racecar[Racecar]
+        Gazebo[Gazebo Simulation]
+    end
+%% --------------------
+%% MONITORING INTERFACES
+%% --------------------
+
+    subgraph Monitoring [Monitoring and Tools]
+        direction LR
+        RViz[RViz]
+        RQt[RQt]
+        ROS2Bag[ROS2Bag]
+    end
+
+    ROS --> Monitoring
+
+%% --------------------
+%% FLOW
+%% --------------------
+
+%% Inputs into system
+    User --> Input
+    Input --> ROS
+
+%% Sensor pipeline
+    State --> Navigation
+    State --> Controls
+    Perception --> Navigation
+
+
+%% Navigation feeds control
+    Navigation --> Controls
+
+%% Brushfire separate (map-level)
+
+%% Control outputs
+    ROS --> Execution
diff --git a/doc/architecture/context.md b/doc/architecture/context.md
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+
+# System Context
+
+This diagram shows how the system interacts with external actors such as the user and the simulation environment.
+
+```mermaid
+
+flowchart LR
+
+    User[User]
+
+    subgraph Input [Input Interfaces]
+        Control["(Joystick / Web Interface)"]
+    end
+
+    subgraph Core [ROS2 System]
+        ROS[ROS2 Nodes]
+    end
+
+    subgraph Execution [Execution Systems]
+        Gazebo["Simulation (Gazebo)"]
+        Hardware[Racecar]
+    end
+
+    User --> Control
+    Control --> ROS
+    ROS --> Gazebo
+    ROS --> Hardware
+
+
+
+
+
+
+
+
+
+
+
diff --git a/doc/architecture/sequences.md b/doc/architecture/sequences.md
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+# Sequence Diagram
+
+This diagram illustrates the most complex core logic flow of the system during autonomous operation.
+
+```mermaid
+sequenceDiagram
+
+    participant Sensors
+    participant ROS2
+    participant Navigation as Navigation and SLAM
+    participant Blob as Blob Detection
+    participant Autopilot
+    participant Arduino
+
+    %% Initialization
+    ROS2->>Navigation: load map and initialize path
+
+    %% Continuous loop
+    loop Autonomous Navigation
+
+        Sensors->>ROS2: publish sensor data (lidar, camera, imu, encoder)
+
+        %% Localization and navigation
+        ROS2->>Navigation: send lidar and odometry
+        Navigation->>ROS2: position estimate
+
+        %% Blob detection
+        ROS2->>Blob: send lidar and camera data
+        Blob->>ROS2: detected balloons
+
+        %% Autopilot (reactive wall avoidance)
+        ROS2->>Autopilot: send lidar data
+        Autopilot->>ROS2: generate steering and speed commands
+
+        %% Execution
+        ROS2->>Arduino: send control commands
+        Arduino-->>ROS2: odometry feedback
+
+    end