Mandatory Performance Requirements
The System Will:
M.P.1. Explore, scan and create a 2D map for 90% of the reachable area in a room
M.P.2. Clean up a 20m² room with a dozen tennis-ball-sized objects within 30 minutes
M.P.3. Navigate to a designated reachable location in a room with pose error < 10%
M.P.4. Go over carpets and rugs with thickness less than 12mm
M.P.5. Detect and avoid 75% of the obstacles with a clearing distance of 10cm
M.P.6. Classify all tennis ball-sized clutter objects with classification error < 20%
M.P.7. Pick up and collect each classified clutter object within 5 attempts
M.P.8. Pick up at least 80% of the classified objects in the room
M.P.9. Carry at least 2 tennis ball-sized object to the drop-off location
M.P.10. Drop the clutter in a designated container marked with AprilTag with success rate > 90%
Mandatory Non-Functional Requirements
The System Shall:
M.N.1. Operates autonomously
M.N.2. Mechanically safe (i.e. no sharp edges)