Explicit Requirements
The system will:
Be portable and operate within a staircase testbed (6.5” riser and 11” tread).
Have a size that does not exceed 12” (length) x 36” (width) x 24” (height).
Have a mass that does not exceed 10 lbs.
Have sufficient storage to hold dirt collected during cleaning.
Use a dedicated power supply.
Have a total parts and materials cost below $1000.
Be robustly constructed rather than composed of prototyping components.
Avoid damaging anything with which it interacts.
Be able to visit each step in a staircase.
Be able to collect a maximum amount of dirt across the width of each step.
Be able to traverse to the staircase in the testbed without leaving.
Default to a mission completion state upon task completion and for the duration of the inspection phase.
Utilize only infrastructure that is a part of the staircase (no external or additional infrastructure added).
Be capable of traversing stairs in the time calculated by the following formula: N * 60 seconds + W * 15 seconds, where N is the number of stairs and W is the width in feet.
Be fully autonomous and not require any human intervention once started.
Implicit Requirements
The system will:
Be able to go up and down stairs without human intervention.
Have storage that is easy to remove and clean so the system can be used again.
Have a power-on, power-off, and emergency stop buttons.
Be able to communicate with an operator what state it is currently in.
Be aesthetically pleasing with minimal exposed wiring and structure.
Sense the cleanliness of the stair.
Coolness Factors
The system will:
Be adaptable to different staircases, including staircases without front panels.
Traverse all steps faster than the specification while maintaining >80% coverage.
Have mobility independence by having all power and compute on-board.