System Requirements

Mandatory Functional Requirements

ID	Functional Requirements	Performance Requirements	Justification/Assumption
M.F.1	The system shall detect weeds in its environment and path.	M.P.1 Precision > 60 % M.P.2 Recall > 60 %	The system is required to detect weeds with over 60% accuracy and completeness, ensuring most weed identifications are correct and most actual weeds are detected.
M.F.2	The system shall localize detected weeds in the world frame.	M.P.3 Localization RMSE < 100 𝑚𝑚	The system must pinpoint weed locations within 100mm accuracy, as measured by the root mean square error (RMSE) between detected and actual weed positions.
M.F.3	The system shall position the tool to target the desired location.	M.P.4 Manipulator Positioning RMSE < 50 𝑚𝑚	The system must accurately position its tool within 50mm of the target location, as determined by the RMSE value between the commanded and actual tool positions.
M.F.4	The system shall eliminate the weeds within the area of operation.	M.P.5 Targeting RMSE < 50 𝑚𝑚 M.P.6 Efficacy of Elimination > 70 %	The system must target weeds with an RMSE of less than 50mm and ensure that at least 70% of treated weeds show visible damage within 24 hours.
M.F.5	System shall maintain throughput and effectiveness	M.P.7 Throughput > 100 m^2/hr M.P.8 Effectiveness > 50 %	The system shall cover an area of 100 meters squared every hour in conditions where weed-density is less than 2 weeds per meter squared while able to 𝑍𝐴𝐴𝑃𝑃 50 % of the targeted weeds.