System Requirements

Mandatory Functional Requirements

ID	Functional Requirements	Performance Requirements	Justification/Assumption
M.F.1	Receive commands from the user: preset speech primitives/handheld interface	Word-error rate <=10% Latency for control commands <5s	Robot should understand what the user wants it to do
M.F.2	Perform basic (pre-defined) social engagement with user	Fallback rate: <20%	User chats with the robot
M.F.3	Localize itself in the environment	Error threshold: <25 cms	Real-time visual data and precomputed map available
M.F.4	Plan and navigate through the pre-mapped environment	Plan global path to desired location within 2 minutes Navigate at a speed of 0.4 m/s	Assuming latency in receiving user input, obstacle detection, path planning, and goal location is 20m away from the robot.
M.F.5	Autonomously avoid obstacles in the environment	Avoids 80% of the obstacles in range	Assuming objects lying in the FoV of visual sensors
M.F.6	Detect objects for grasping	mAP >= 80% for 10 object categories (e.g bottle, remote, medicines etc)	Predefined class of objects are placed in expected and appropriate lighting.
M.F.7	Manipulate predefined objects to/from planar surfaces at known locations in the environment	Greater than 70% successful picks and places	Manipulation algorithms are tuned beforehand for our set of objects.
M.F.9	Allow approved operators to teleoperate the robot	Communication latency <5s	Assuming connection initialization and transmission delays and command interpretation time.
M.F.10	Provide user with robot metrics and video feed of the robot on a handheld interface	Latency: <2s Resolution> 720p	Robot should provide a real-time experience to the user

Mandatory Non-Functional Requirements

ID	Description
M.N.1	Appear non-threatening to the user
M.N.2	Be physically compliant to human interaction/contact
M.N.3	Have a simple UI/UX for the handheld interface
M.N.4	Have a modular software architecture for further development
M.N.5	Allow users to pre-schedule tasks/assistance

Desirable Functional Requirements

ID	Description	Performance
D.F.1	Perform all required computation locally	–
D.F.2	Understand and interpret non-template natural language commands	D.P.2 Fallback rate < 20%
D.F.3	Detect and alert caregivers if the primary user suffers a fall	D.P.3 False positives <1%

Desirable Non-Functional Requirements

ID	Description
D.N.1	Appear aesthetic to user
D.N.2	Reasonable cost to user