Functional Requirements
| Mandatory | |
|---|---|
| R.F.01 | The system shall have DBW system to control the Zamboni |
| R.F.02 | The system shall estimate pose and velocity of the leader |
| R.F.03 | The system shall follow the leader |
| R.F.04 | The system shall estimate pose, velocity, and acceleration of the follower |
| R.F.05 | The system shall plan motion of the follower |
| R.F.06 | The system shall detect and avoid obstacles |
| Desired | |
|---|---|
| D.P.01 | The Zamboni will be able to follow a trajectory with a lateral error of at most 5 cm |
| D.P.02 | The Zamboni will localize itself in the arena to within 2 cm |
| D.P.03 | The Zamboni will maintain a minimum distance of 5 cm from the boards |
| D.P.04 | The Zamboni will control the height of the blade to an accuracy of 1 mm |
| D.P.05 | The Zamboni will resurface the turn the resurfacing water on and off with a latency of less than 50 m |
Performance Requirements
| Mandatory | |
|---|---|
| R.P.01 | The system will operate DBW system to steer, accelerate, and break the Zamboni with less than 50 ms latency |
| R.P.02 | The system will control the Zamboni running at a max velocity of 2.5 m/s |
| R.P.03 | The system will estimate the position of the leader within 0.1 m accuracy |
| R.P.04 | The system will estimate the velocity of the leader to an accuracy of 0.2 m/s |
| R.P.05 | The system will maintain a safe distance from the leader of 2 to 2.5 m |
| R.P.06 | The system will maintain an lateral offset with the leader by one body width |
| R.P.07 | The system will estimate the yaw rate of the follower within 1 deg/sec of accuracy |
| R.P.08 | The system will retrieve the velocity of the follower to an accuracy of 0.1 m/s |
| R.P.09 | The system will retrieve the acceleration of the follower to an accuracy of 0.1 m/s2 |
| R.P.10 | The system will retrieve the position of the follower within 0.1 m accuracy |
| R.P.11 | The system will plan motion of the follower within 100 ms |
| R.P.12 | The system will detect obstacles within a range of 2 m |
| R.P.13 | The system will detect positions of obstacles to an accuracy of 0.1 m |
| R.P.14 | The system will stop the follower within 0.6 s once detecting the obstacles with max deceleration of 1 m/s2 and velocity of 2.25 m/s |
Non-Functional Requirements
| Mandatory | |
|---|---|
| N.F.01 | The system will have reasonably sized and placed sensors (so that driver sight-line is not blocked when manually driven) |
| N.F.02 | The system will have both hardware and software safety measures |
| N.F.03 | The system will be able to be shut down at any time |
| N.F.04 | The system will be retrofit with modular components |
| N.F.05 | The system will be able to function in colder temperatures |
| Desired | |
|---|---|
| D.N.01 | The Zamboni will cover the entirety of the rink |
| D.N.02 | The system will be reliable and accurate in ice resurfacing |