This document presents the functional and non-functional requirements of an indoor robotics and navigation system designed for environment mapping and Wi-Fi-based localization. The system integrates three main layers — Mapping, Data, and Application — which work together to enable autonomous robot exploration, data collection and storage, as well as user interaction through a mobile application.

The Mapping section describes the robot's capabilities in terms of navigation, mapping, and on-site data acquisition. The Data section focuses on the transmission, storage, and access of the information collected. Finally, the Application section details the features of the mobile application, responsible for the interface between the user and the system, including positioning, route calculation, and guidance to points of interest within the mapped environment.

Mapping

Functional:

• M-FR-1: The robot must be able to navigate the environment via remote control in order to generate the “Obstacle Map”.
• M-FR-2: The robot must generate a two-dimensional occupancy grid map of the environment's static objects with an Intersection over Union (IoU) index greater than 0.75, constituting the “Obstacle Map”.
• M-FR-3: The robot's navigation and mapping functions are designed to operate exclusively on flat, planar surfaces.
• M-FR-4: After an Obstacle Map is generated, the system must create a route for the robot that covers the navigable area with a grid of measurement points. The collected WiFi data at these points will constitute the "WiFi Signals Map" layer.
• M-FR-5: The robot must be able to move autonomously during the creation of the “WiFi Signals Map”, covering every point defined.
• M-FR-6: The robot must be able to scan at least 5 and at most 10 WiFi signals at the same time in each defined point, capturing the BSSID and RSSI for all detectable networks with a signal strength greater than -80 dBm.
  • M-FR-6.1: If more than ten WiFi signals are detected, the ten strongest will be selected.
• M-FR-7: The robot must store the captured Wi-Fi and mapping data in its internal memory.
• (OP) M-FR-8: The robot must be able to move autonomously during the Obstacle Map process, without colliding with static obstacles.

Anti-Requirements:

• M-AR-1: The system maps and only operates on a single floor and does not support multi-floor mapping or navigation.
• M-AR-2: The robot is designed for planar surfaces and will recognize the inclination when it is in a ramp and will get back, not attempting to traverse any ramps or inclines, which it will treat as a barrier.
• M-AR-3: The robot will not work around dynamic obstacles and moving people.
• M-AR-4: The robot is not required to traverse small, abrupt changes in elevation like door sills, rugs, or power cords on the floor.
• M-AR-5: The system is not required to operate in an environment where the Wi-Fi infrastructure is altered after the initial site survey. Access Points (APs) must not be moved, turned off or removed from their surveyed locations.
• M-AR-6: The system is not guaranteed to correctly map transparent (e.g., glass walls) or highly reflective (e.g., mirrored) surfaces.
• M-AR-7: Robot performance is not guaranteed on high-pile carpets, wet surfaces, or highly reflective floors that may interfere with optical or infrared sensors.