{"id":116,"date":"2023-02-25T18:18:32","date_gmt":"2023-02-25T18:18:32","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/?page_id=116"},"modified":"2023-02-25T18:56:06","modified_gmt":"2023-02-25T18:56:06","slug":"system-requirements","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/system-design\/system-requirements\/","title":{"rendered":"System Requirements"},"content":{"rendered":"\n

Functional Requirements<\/strong><\/p>\n\n\n\n

Mandatory<\/th>Requirement<\/th>Performance Metric<\/th><\/tr><\/thead>
M.F.R.1<\/td>Receive Commands from the user<\/td>100%<\/td><\/tr>
M.F.R.2<\/td>Simultaneously Map and Localize the Environment<\/td>Relative pose error(T) <= 15cm
Relative pose error(R) <= 10 deg
<\/td><\/tr>
M.F.R.3<\/td>Achieve hardware agnostic navigation to the goal point<\/td>Avoid 90% Collisions
Reaches the goal 85% of the time
1 Wheeled Robot, 1 Legged Robot
1 more Wheeled Robot (desirable)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

<\/p>\n\n\n\n

Desired<\/th>Requirements<\/th>Performance Metric<\/th><\/tr><\/thead>
D.F.R.1<\/td>Detect the object of interest<\/td>mAP-60%<\/td><\/tr>
D.F.R.2<\/td>Manipulate the object of interest<\/td>Able to manipulate the object of interest with 50% accuracy<\/td><\/tr>
D.F.R.3<\/td>Find the position of the camera and LiDAR automatically<\/td>Able to find the positions of the sensors within an error range of 5cm translation wise and 5 degree rotation wise.<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
\n\n\n\n

Non-Functional Requirements<\/strong><\/p>\n\n\n\n

Mandatory<\/th>Requirements<\/th>Performance Metric<\/th><\/tr><\/thead>
M.N.F.R.1<\/td>Software should not compromise the mobility of the platform<\/td>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<\/td><\/tr>
M.N.F.R.2<\/td>Software should be extensible<\/td>GHAR will run on platforms that have enough compute to run ROS.<\/td><\/tr>
M.N.F.R.3<\/td>Clean and Well Documented Code<\/td>Follows ROS Style Guide<\/td><\/tr>
M.N.F.R.4<\/td>Real time visualization of the working of the navigation stack<\/td>Show global path, optimized global path, local path, current pose of the robot<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

<\/p>\n\n\n\n

Desired<\/th>Requirement<\/th>Performance Metric<\/th><\/tr><\/thead>
D.N.F.R.1<\/td>Software should be extensible to other mobility platforms<\/td>Biped, Hexapods, etc.<\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"

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) <= 15cmRelative pose error(R) <= 10 deg M.F.R.3 Achieve hardware agnostic navigation to the goal point Avoid 90% CollisionsReaches the goal 85% of the time1 Wheeled Robot, 1 Legged Robot1 more Wheeled … Continue Reading<\/strong> <\/i><\/a><\/p>\n","protected":false},"author":337,"featured_media":0,"parent":124,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-116","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/pages\/116","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/users\/337"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/comments?post=116"}],"version-history":[{"count":13,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/pages\/116\/revisions"}],"predecessor-version":[{"id":143,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/pages\/116\/revisions\/143"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/pages\/124"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teami\/wp-json\/wp\/v2\/media?parent=116"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}