CLOE — HELIOS-1 — Autonomous Urban Delivery Drone

Executive summary

Key indicators across requirements, verification and traceability.

18

Requirements

66%

Accepted requirements

11 / 15

IVV tests passed

83%

Requirement coverage

114

Traceability links

7 / 8

Open technical issues

Traceability state

15/18 requirements covered by at least one test (83%), 11 fully verified (61%), 11/15 tests passed, 0 orphan test(s).

Req	Requirement	Status	Cov.	Verifying tests
REQ-001	The system shall deliver a parcel to any destination within an 8 km radius of the launch hub.	Accepted	✓✓	PASS End-to-end range delivery flight to a destination 8 km away. [Flight test campaign]
REQ-002	The system shall carry a payload of up to 2.5 kg.	Accepted	✓✓	PASS Payload capacity bench test: load 2.5 kg and verify stable h… [Qualification campaign]
REQ-008	The system shall complete a nominal delivery mission without operator intervention.	In negotiation	✓	todo Fully autonomous mission from order to delivery, no operator… [Flight test campaign]
REQ-003	The system shall determine its position with an accuracy better than 0.5 m using GNSS-RTK.	Accepted	✓✓	PASS Navigation accuracy test against surveyed ground truth. [Qualification campaign]
REQ-004	The system shall detect obstacles larger than 5 cm at a range of at least 30 m and avoid them.	Accepted	✓✓	PASS Obstacle detection bench test with a 5 cm wire target at 30 … [Qualification campaign]
REQ-007	The system shall cruise at a nominal ground speed of 60 km/h.	Accepted	✓✓	PASS Cruise speed flight test on a 2 km straight leg. [Flight test campaign]
REQ-005	The system shall provide at least 35 minutes of flight endurance on a single charge.	Accepted	✓	todo Endurance test: continuous hover until low-battery cutoff. [Qualification campaign]
REQ-006	The system shall maintain a command-and-control link with less than 2% packet loss up to 8 km.	Accepted	✓✓	PASS C2 link range test at 8 km line-of-sight. [Qualification campaign]
REQ-009	The system shall not exceed an acoustic level of 65 dB(A) at 50 m during cruise.	In negotiation	✓	todo Acoustic measurement at 50 m during simulated cruise. [Qualification campaign]
REQ-101	The system shall not penetrate geofenced no-fly zones.	Accepted	✓✓	PASS Geofence enforcement test: command a path crossing a no-fly … [Qualification campaign]
REQ-102	On loss of the C2 link for more than 10 s, the system shall autonomously return to home.	Accepted	✓✓	PASS Lost-link return-to-home test: C2 link cut in flight. [Flight test campaign]
REQ-103	When the battery state of charge drops below 15%, the system shall perform a safe automatic landing.	Accepted	✓✓	PASS Low-battery safe landing test. [Qualification campaign]
REQ-104	On detection of a critical failure, the system shall deploy an emergency recovery parachute.	In negotiation	✓	todo In-flight parachute deployment test on commanded critical fa… [Flight test campaign]
REQ-105	The system shall continuously broadcast a Remote ID signal as required by airspace regulation.	Accepted	✓✓	PASS Remote ID broadcast verification with a regulatory receiver. [Qualification campaign]
REQ-106	The system shall not exceed 120 m above ground level.	Accepted	✓✓	PASS Maximum altitude limit test: command a climb above 120 m. [Qualification campaign]
REQ-050	The operator interface should be user-friendly and fast.	Draft	✗	No test
REQ-051	The system shall support maintenance as needed, with spare-parts availability TBD.	In negotiation	✗	No test
REQ-052	The ground station shall display telemetry and/or warnings and minimize operator workload.	Draft	✗	No test

Issues & checks

Rule-based controls on the traceability graph.

3 requirement(s) without any IVV test
3 requirement(s) with no verification method
3 requirement(s) with quality warnings (wording, atomicity, “shall”…)
0 test(s) not linked to any requirement
4 open critical/blocking technical issue(s)

Requirements

Safety & regulatory requirements — 7 item(s)

Safety, airspace and regulatory constraints.

ID	Requirement	Prio.	Verif.	Status
—	Safety & regulatory requirements Constraints derived from airspace regulation and safety analysis.
REQ-101	The system shall not penetrate geofenced no-fly zones.	Must	Test	Accepted
REQ-102	On loss of the C2 link for more than 10 s, the system shall autonomously return to home.	Must	Test	Accepted
REQ-103	When the battery state of charge drops below 15%, the system shall perform a safe automatic landing.	Must	Test	Accepted
REQ-104	On detection of a critical failure, the system shall deploy an emergency recovery parachute.	Should	Inspection	In negotiation
REQ-105	The system shall continuously broadcast a Remote ID signal as required by airspace regulation.	Must	Inspection	Accepted
REQ-106	The system shall not exceed 120 m above ground level.	Must	Test	Accepted

System requirements — 17 item(s)

Functional and performance requirements of the HELIOS-1 system.

ID	Requirement	Prio.	Verif.	Status
—	System requirements Top-level functional and performance requirements for the HELIOS-1 autonomous delivery drone.
—	Mission & payload
REQ-001	The system shall deliver a parcel to any destination within an 8 km radius of the launch hub.	Must	Test	Accepted
REQ-002	The system shall carry a payload of up to 2.5 kg.	Must	Test	Accepted
REQ-008	The system shall complete a nominal delivery mission without operator intervention.	Should	Demonstration	In negotiation
—	Navigation & perception
REQ-003	The system shall determine its position with an accuracy better than 0.5 m using GNSS-RTK.	Must	Test	Accepted
REQ-004	The system shall detect obstacles larger than 5 cm at a range of at least 30 m and avoid them.	Must	Test	Accepted
REQ-007	The system shall cruise at a nominal ground speed of 60 km/h.	Should	Demonstration	Accepted
—	Power & communication
REQ-005	The system shall provide at least 35 minutes of flight endurance on a single charge.	Should	Analysis	Accepted
REQ-006	The system shall maintain a command-and-control link with less than 2% packet loss up to 8 km.	Must	Test	Accepted
REQ-009	The system shall not exceed an acoustic level of 65 dB(A) at 50 m during cruise.	Could	Test	In negotiation
—	Draft requirements (to be refined)
REQ-050	The operator interface should be user-friendly and fast.			Draft
REQ-051	The system shall support maintenance as needed, with spare-parts availability TBD.			In negotiation
REQ-052	The ground station shall display telemetry and/or warnings and minimize operator workload.			Draft

MBSE models

Operational analysis — Operational analysis · 12 element(s)

Stakeholders and operational activities of the delivery service.

System functions — Functional need (system analysis) · 15 element(s)

Black-box functional architecture of the drone system.

Logical architecture — Logical architecture · 18 element(s)

Logical components and their allocated functions.

Physical architecture — Physical architecture · 19 element(s)

Physical nodes, boards and equipment.

Battery management states — States & modes · 5 element(s)

HELIOS-1 power/battery state machine driving the endurance and low-battery safety behaviours.

Flight modes & states — States & modes · 9 element(s)

HELIOS-1 mission mode automaton: nominal flight phases plus the safety transitions (return-to-home, low-battery landing, parachute recovery).

IVV test campaigns

Flight test campaign — 3/5 passed

In-flight validation tests.

Type	Description	Expected result	Result
Test	End-to-end range delivery flight to a destination 8 km away.	Parcel delivered within the target zone.	PASS
Test	Cruise speed flight test on a 2 km straight leg.	Sustained ground speed of 60 km/h.	PASS
Test	Lost-link return-to-home test: C2 link cut in flight.	Drone returns and lands at home after 10 s.	PASS
Test	Fully autonomous mission from order to delivery, no operator input.	Mission completed autonomously.	not passed
Test	In-flight parachute deployment test on commanded critical failure.	Parachute deploys, descent rate within limits.	not passed

Qualification campaign — 8/10 passed

Bench and lab verification tests.

Type	Description	Expected result	Result
Test	Payload capacity bench test: load 2.5 kg and verify stable hover for 5 min.	Stable hover, no over-temperature on motors.	PASS
Test	Navigation accuracy test against surveyed ground truth.	RTK position error below 0.5 m (CEP95).	PASS
Test	Obstacle detection bench test with a 5 cm wire target at 30 m.	Target detected, avoidance trajectory generated.	PASS
Test	Endurance test: continuous hover until low-battery cutoff.	Flight time >= 35 min.	not passed
Test	C2 link range test at 8 km line-of-sight.	Packet loss below 2%.	PASS
Test	Geofence enforcement test: command a path crossing a no-fly zone.	Drone refuses and reroutes along the boundary.	PASS
Test	Low-battery safe landing test.	Automatic descent and landing triggered at 15% SoC.	PASS
Test	Remote ID broadcast verification with a regulatory receiver.	Valid Remote ID frames received continuously.	PASS
Test	Maximum altitude limit test: command a climb above 120 m.	Altitude capped at 120 m AGL.	PASS
Test	Acoustic measurement at 50 m during simulated cruise.	Noise level <= 65 dB(A).	not passed

Interfaces (ICD)

Interfaces — 6 interface(s)

ID	Interface	A	Dir.	B	Nature	Status
IF-001	C2 radio link (drone ↔ ground station)	HELIOS-1 Drone	Bidirectional	Ground control station	RF	Agreed
IF-002	GNSS-RTK correction feed	RTK base station	B → A	HELIOS-1 Drone	RF	Agreed
IF-003	Payload bay mechanical & power interface	Airframe	A → B	Parcel payload module	Mechanical	Draft
IF-004	Main power bus	Battery pack	A → B	Power distribution unit	Electrical	Frozen
IF-005	Perception sensor data bus	LiDAR & cameras	A → B	Flight computer	Data	Agreed
IF-006	Customer delivery notifications API	Cloud backend	Bidirectional	Customer mobile app	Software API	Draft

Technical issues

Technical issues — 8 issue(s)

ID	Issue	Category	Severity	Status
FT-001	GNSS position drift beyond 0.5 m under urban multipath	Anomaly	Critical	Open
FT-002	Flight endurance short of 35 min at full payload in cold weather	Anomaly	Major	Analyzing
FT-003	Obstacle detection misses thin wires near the 5 cm / 30 m limit	Non-conformance	Critical	Open
FT-004	C2 link packet loss exceeds 2% beyond 7 km	Anomaly	Major	Open
FT-005	Acoustic level exceeds 65 dB(A) during aggressive climb	Observation	Minor	Resolved
FT-006	Return-to-home triggered late after simulated C2 loss	Anomaly	Blocking	Analyzing
FT-007	Parachute deployment delayed on critical failure injection	Non-conformance	Critical	Open
FT-008	Geofence buffer too small near no-fly boundary	Deviation	Major	Closed