Functional Requirements
| Mandatory | Requirement | Performance Metric |
|---|---|---|
| M.F.R.1 | Receive Commands from the user | 100% |
| M.F.R.2 | Simultaneously Map and Localize the Environment | Relative pose error(T) <= 15cm Relative pose error(R) <= 10 deg |
| M.F.R.3 | Achieve hardware agnostic navigation to the goal point | Avoid 90% Collisions Reaches the goal 85% of the time 1 Wheeled Robot, 1 Legged Robot 1 more Wheeled Robot (desirable) |
| Desired | Requirements | Performance Metric |
|---|---|---|
| D.F.R.1 | Detect the object of interest | mAP-60% |
| D.F.R.2 | Manipulate the object of interest | Able to manipulate the object of interest with 50% accuracy |
| D.F.R.3 | Find the position of the camera and LiDAR automatically | Able to find the positions of the sensors within an error range of 5cm translation wise and 5 degree rotation wise. |
Non-Functional Requirements
| Mandatory | Requirements | Performance Metric |
|---|---|---|
| M.N.F.R.1 | Software should not compromise the mobility of the platform | Path for both the Robots should be smooth Time taken for hardware agnostic path generation should be less than 5 seconds Determine object negotiability with 80% accuracy |
| M.N.F.R.2 | Software should be extensible | GHAR will run on platforms that have enough compute to run ROS. |
| M.N.F.R.3 | Clean and Well Documented Code | Follows ROS Style Guide |
| M.N.F.R.4 | Real time visualization of the working of the navigation stack | Show global path, optimized global path, local path, current pose of the robot |
| Desired | Requirement | Performance Metric |
|---|---|---|
| D.N.F.R.1 | Software should be extensible to other mobility platforms | Biped, Hexapods, etc. |