Website

RobotTestMethods.nist.gov

Test Director

Adam Jacoff

Intelligent Systems Division

National Institute of Standards and Technology

U.S. Department of Commerce

Sponsor:

Systems Engineering & Standards Division

Science and Technology Directorate 

U.S. Department of Homeland Security

Email

RobotTestMethods@nist.gov

Version 2023C

Confined Tests and Scorable Scenarios

Indoors/Outdoors, Lighted/Dark, GPS/No GPS

Pocket Guide for Aerial Drones

Tests and Scenarios

CONFINED

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

22

Confined Test Lane and Related Scenarios

Aerial Tests

Page 25 11/9/21

One of the confined scenarios at this event were semi-collapsed structures representing environments not 

safe for responders to search given the potential for further collapse due to aftershock or structural failures. 

The inspection tasks were placed around crushed vehicles within a collapsed structure. They were also

distributed across individual rooms in a search pattern to ensure each room was inspected for victims and

other objects of interest. 

Figure 36) The collapsed structure scenario at the Guardian Centers supported a wide variety of embedded 

test methods inside the structure and around objects of interest in semi-collapsed areas.

Figure 37) LEFT: Confined test apparatuses embedded into the semi-collapsed parking garage around 

vehicles that needed to be searched for survivors within a very complex three-dimensional environment. 

We placed 5 apparatuses around the vehicles to designate 10 positions and orientations to inspect. The 

white and black bucket pairs total up to 100 points for a complete trial. RIGHT: Confined test apparatuses 

embedded in a room-to-room search within the collapsed structure. These measured the completeness of 

the room-to-room search and quantify the detailed inspections of key features within the rooms. This 

scenario also totaled 100 points for a complete trial.

DRONE

SMALL

DUAL BUCKET

APPARATUS

CRUSHED VEHICLE SEARCH ROOM TO ROOM SEARCH

SMALL

DUAL BUCKET

APPARATUS

DRONE

Small Unmanned Aircraft Systems

mittee on Homeland Security Applications; 

Website: RobotTestMethods.nist.gov

22

and Related Scenarios

al Tests

Page 25 11/9/21

arch and Inspection

emi-collapsed structures representing environments not 

or further collapse due to aftershock or structural failures. 

vehicles within a collapsed structure. They were also

tern to ensure each room was inspected for victims and

Guardian Centers supported a wide variety of embedded 

cts of interest in semi-collapsed areas.

ded into the semi-collapsed parking garage around 

within a very complex three-dimensional environment. 

esignate 10 positions and orientations to inspect. The 

s for a complete trial. RIGHT: Confined test apparatuses 

ollapsed structure. These measured the completeness of 

d inspections of key features within the rooms. This 

al.

ROOM TO ROOM SEARCH

SMALL

DUAL BUCKET

APPARATUS

DRONE

DISASTER RESPONSE

ods for Small Unmanned Aircraft Systems

dards Committee on Homeland Security Applications; 

E54.09) | Website: RobotTestMethods.nist.gov

F Credentialing

 Case Examples

UNDER VEHICLE SEARCH

INSIDE VEHICLE INSPECTION

0 M (0 FT)

1 M (3 FT)

PERCH TEST

2 M (6 FT)

1 M (3 FT)

WALL TEST GROUND, ALLEY, & POST TESTS

Confined Test Lane and Related Operational Scenarios

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Confined Scenario: Structure Interior Rooms (South)

Safety | Capabilities | Proficiency

OPEN OBSTRUCTED CONFINED

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

TOP INDOOR ALTITUDE

2 M (6 FT)

PERCH

0 M (0 FT)

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM SEARCH SCENARIO

0 M (0 FT)

1 M (3 FT)

PERCH TEST WALL TEST GROUND, ALLEY, & POST TESTS

Confined Test Lane and Related Operational Scenarios

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Confined Scenario: Structure Interior Rooms (South)

Safety | Capabilities | Proficiency

OPEN OBSTRUCTED CONFINED

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

TOP INDOOR ALTITUDE

2 M (6 FT)

PERCH

0 M (0 FT)

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM SEARCH SCENARIO

Confined Test Lanes and Scorable Indoor Scenarios
Confined Tests and Scorable Scenarios

Evaluate safety, capabilities, and proficiency

2 23

OBSTRUCTED | SEARCH

The Confined tests and scorable scenarios enable remote 

pilots to perform safe and repeatable flight paths indoors 

room-to-room or in any confined space to inspect objects 

from very close proximity. There are 5 different tests that 

guide remote pilots through various standoff positions, 

orientations, and perches at about 1 m (3 ft) from objects. 

These tests can be performed indoors to control lighting, 

weather, and access to GPS or outdoors as appropriate.

BUCKETS MANEUVERING (MAN) 

NUMBER 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

2 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

3 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

4 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

5 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

6 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

7 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

8 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

9 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 5 5 1 0 ––– ––– ––– ––– –––

10 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 5A 5 1 0 BL R TL L BL

11 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 6 5 1 0 ––– ––– ––– ––– –––

12 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 6A 5 1 0 TR B TR L BR

13 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 7 5 1 0 ––– ––– ––– ––– –––

14 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 7A 5 1 0 L BR T TL R

15 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 8 5 1 0 ––– ––– ––– ––– –––

16 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 8A 5 1 0 BR T TL R BL

17 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 9 5 1 0 ––– ––– ––– ––– –––

18 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 9A 5 1 0 T BL B TR L

19 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 10 5 1 0 ––– ––– ––– ––– –––

20 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 10A 5 1 0 BL R TL L BL

SCORES MAN 

/100

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAY 

/50

ALIGNMENT PAYLOAD (PAY) ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

2 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

3 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

4 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

5 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

6 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

7 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

8 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

9 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

10 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

11 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

12 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

13 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

14 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

15 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

16 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

17 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

18 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

19 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

20 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY IDENTIFIED BY 

THE PILOT DURING THE TRIAL 

24 

Page 13

om the wall guided by dual bucket alignments in various 

measures the field of view of an independent pan-tilt-zoom 

 re-launch, rotate, and land to identify all the targets in order.

(6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

fy features upward and downward. This approximates inspection 

ws and doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 13

PERCH TEST

The drone lands 2 m (6 ft) from the wall guided by dual bucket alignments in various 

orientations. A single perch measures the field of view of an independent pan-tilt-zoom 

camera. Others may need to re-launch, rotate, and land to identify all the targets in order.

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Perch (PAY 6)

Obstructed Test Lane

• Land within 2-3 m (6-10 ft) of a wall in front of the 

aircraft with ground obstacles on both sides. 

• While perched, inspect vertical and horizontal object 

features upward, downward, leftward and rightward. 

• Launch and land repeatedly if necessary to score all 

buckets in the sequence.

• Measure the field of view of the drone while perched 

with independent pan-tilt-zoom cameras. 

Payload Functionality Trials (PAY): 

• Align with the PERPENDICULAR BUCKETS first and 

capture an image of the inscribed rings that can be used 

to score up to 50 alignment points after the trial. 

• Align with the ANGLED BUCKETS second to identify as 

many acuity target gaps as possible to score up to 50 

acuity points. Call out the gap directions to the Proctor.

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

SCORED ONLY WHILE LANDED

10 Positions = 20 Buckets = 100 Total Points

LAUNCH FORWARD REVERSE FORWARD LAND

LAUNCH 1 2 3 4 3 2 1 2 3 4 LAND

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

CONFINED | SEARCH

0 M (0 FT)

1 M (3 FT)

PERCH TEST

2 M (6 FT)

1 M (3 FT)

WALL TEST GROUND, ALLEY, & POST TESTS

Confined Test Lane and Related Operational Scenarios

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Confined Scenario: Structure Interior Rooms (South)

Safety | Capabilities | Proficiency

OPEN OBSTRUCTED CONFINED

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

TOP INDOOR ALTITUDE

2 M (6 FT)

PERCH

0 M (0 FT)

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM SEARCH SCENARIO

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

DOJ ATF Credentialing

Use Case Examples

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

23

Confined Test Lane and Related Scenarios Aerial Tests

Page 26 11/9/21

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Confined Scenario: Subway Terrorist Attack 

The subway terrorist attack scenario was in a simulated tunnel with multiple DC Metro railcars. A line of 

intact and upright railcars near the station entrance led to one railcar on its side almost blocking the tunnel. 

The scenario included several survivors inside and around the perimeter of the overturned railcar along 

with some suspicious packages that could have been secondary explosives. 

Figure 38) The long dark tunnel started with an intact set of railcars near at the simulated station entrance.

 

Figure 39) LEFT: We used Confined dual bucket alignments to designate 10 positions and orientations 

outside the subway car where victims were located along with suspicious packages. RIGHT: Two drones 

flew in tandem to help one another with side views of their situations as they negotiated the complex 

interior of the overturned railcar.

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

24

Confined Test Lane and Related Scenarios

Aerial Tests

Standard Test Methods for Small Unmanned Aircraft Systems ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Figure 40) The quad screen video shows the first dual bucket alignment in the sideways entrance door. This 

was the first of 10 positions and orientations inside the subway car to measure how far in a drone could find 

victims and identify suspicious packages.

DISASTER RESPONSE

INSIDE VEHICLES

UNDER VEHICLES

ROOM-TO-ROOM SEARCH DRONE VIEW

DRONE VIEW

0 M (0 FT)

1 M (3 FT)

PERCH TEST WALL TEST GROUND, ALLEY, & POST TESTS

Confined Test Lane and Related Operational Scenarios

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Confined Scenario: Structure Interior Rooms (South)

Safety | Capabilities | Proficiency

OPEN OBSTRUCTED CONFINED

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

TOP INDOOR ALTITUDE

2 M (6 FT)

PERCH

0 M (0 FT)

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM SEARCH SCENARIO

Confined Test Lanes and Scorable Indoor Scenarios START TIMER

ELASPED TIME:

(MM:SS)
3

PERCH

PAY 6

WALL

PAY 7

GROUND

PAY 8

ALLEY

PAY 9

POST

PAY 10

Bucket Alignments Define Flight Paths

Designated altitudes, positions, and orientations

• Fabricated room-to-room search scenario with inspect 

tasks that can be replicated to track and compare scores.

• Self-standing plywood corner walls define 1.2m (4 ft) 

switchback hallways with a blackout tarp ceiling over top 

at 2.4m (8ft). Fits inside a 6m (20ft) shipping container.

• Square access ”windows” measuring 1m (3ft) square 

provide entry/exit and interior high/low pass throughs.

Confined Room-to-Room Labyrinth

Search tasks with 1 m (3ft) minimum clearances 

USE SETS OF 5 “INLINE” DUAL BUCKET RAILS 

HORIZONTALS FOR LEFTWARD/RIGHTWARD INSPECTIONS 

VERTICALS FOR UPWARD/DOWNWARD INSPECTIONS 

PROCEDURES FOR ALL TESTS ARE THE SAME (10 POSITIONS = 20 BUCKET ALIGNMENTS) 

LAUNCH – FORWARD – REVERSE – FORWARD – LAND | LAUNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

WALL (MAN/PAY 7)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle at 45

degrees from forward of the aircraft while inspecting vertical object features

upward and downward.

GROUND (MAN/PAY 8)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle at 90

degrees from forward of the aircraft while inspecting horizontal object features

leftward and rightward.

ALLEY (MAN/PAY 9)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle in front of

the aircraft (0 degrees) and behind the aircraft (180 degrees) while inspecting

horizontal object features leftward and rightward.

POST (MAN/PAY 10)

The drone flies within 2-3 m (6-10 ft) proximity of a post and wall or obstacle

while inspecting vertical object features upward and downward. While

circumnavigating the post, the drone passes between the post and the wall or

obstacle placed 4 m (12 ft) apart.

PERCH (MAN/PAY 6)

The drone flies and lands within 2-3 m (6-10 ft) from a wall or obstacle in front

of the aircraft with ground obstacles on both sides. While perched the drone

inspects vertical and horizontal object features upward, downward, leftward

and rightward. Each landing measures the field of view of the drone while

perched including any independent pan-tilt-zoom camera. The drone may

launch and land repeatedly to score allbuckets if necessary.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1 1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1

3

4

2

1 3

4

2

4 M (12 FT)

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1 4 2 3

4 3

1 2

4 M (12 FT)

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 FT)

TOP VIEW

1

2 3

4

1

2 4

3

4 M (12 FT)

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

Response Robots (E54.09) Website: RobotTestMethods.nist.gov

POST TEST

The drone flies within 2-3 m (6-10 ft) all around the post at different elevations to inspect 

objects upward and downward. This approximates inspecting elevated objects near walls or 

other obstacles.

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 FT)

TOP VIEW

1

2 3

4

1

2 4

3

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

PROCEDURES FOR ALL TESTS ARE THE SAME (10 POSITIONS = 20 BUCKET ALIGNMEN

LAUNCH – FORWARD – REVERSE – FORWARD – LAND | LAUNCH – 1 2 3 4 – 3 2 1 

WALL (MAN/PAY 7)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle at 45

degrees from forward of the aircraft while inspecting vertical object features

upward and downward.

GROUND (MAN/PAY 8)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle at 90

degrees from forward of the aircraft while inspecting horizontal object features

leftward and rightward.

ALLEY (MAN/PAY 9)

The drone flies within 2-3 m (6-10 ft) proximity of a wall or obstacle in front of

the aircraft (0 degrees) and behind the aircraft (180 degrees) while inspecting

horizontal object features leftward and rightward.

POST (MAN/PAY 10)

The drone flies within 2-3 m (6-10 ft) proximity of a post and wall or obstacle

while inspecting vertical object features upward and downward. While

circumnavigating the post, the drone passes between the post and the wall or

obstacle placed 4 m (12 ft) apart.

PERCH (MAN/PAY 6)

The drone flies and lands within 2-3 m (6-10 ft) from a wall or obstacle in front

of the aircraft with ground obstacles on both sides. While perched the drone

inspects vertical and horizontal object features upward, downward, leftward

and rightward. Each landing measures the field of view of the drone while

perched including any independent pan-tilt-zoom camera. The drone may

launch and land repeatedly to score allbuckets if necessary.

WALL | FENCE | OBSTACLE

TOP VIEW

3 2 4

1

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1 1

2

LOWER BUCKETS A

1 M (3 FT) ELEVA

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1

3

4

2

1 

2

4 M (12 FT)

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1 4 

4 3

1 2

4 M (12 FT)

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 FT)

TOP VIEW

1

2 3

4

1

2 

4 M (12 FT)

Standard Test Methods for Small Un

ASTM International Standards Committee for H

Response Robots (E54.09) Website: Rob

POST TEST

The drone flies within 2-3 m (6-10 ft) all around the po

objects upward and downward. This approximates ins

other obstacles.

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 FT)

TOP VIEW

1

2 3

4

1

2 

4 M (12 FT)

10 POSITIONS (20 BUCK

PERCH POSITION

2 M (6 FT)

ELEVATION

1 M (3 FT)

ELEVATION

UPWARD 

LEFT/RIGHT

DOWNWARD 

LEFT/RIGHT

HIGH/LOW 

ACCESS HOLES

1 m (3 ft)

SQUARE

1 M (3 FT)

ELEVATION

0 M (0 FT)

1 M (3 FT)

PERCH TEST

2 M (6 FT)

1 M (3 FT)

WALL TEST GROUND, ALLEY, & POST TESTS

Confined Test Lane and Related Operational 

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Confined Scenario: Structure Interior Rooms (S

Safety | Capabilities | Proficiency

OPEN OBSTRUCTED CONFINED

TOP INDOOR ALTITUDE

2 M (6 FT)

PERCH

0 M (0 FT

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM SEARCH SCENARIO

0 M (0 FT)

1 M (3 FT)

PERCH TEST

2 M (6 FT)

1 M (3 FT)

WALL TEST G

Confined Test Lane and Rela

Standard Test Methods for Small 

ASTM International Standards Committee 

Response Robots (E54.09) | Websit

Confined Scenario: Structur

Safety | Capabiliti

OPEN OBSTRUC

TOP INDOOR ALTITUDE

2 M (6 FT)

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM 

0 M (0 FT)

1 M (3 FT)

PERCH TEST

Confined T

Confine

TO

MID

SHOOT HOUSE SCENARIO 

3 1

2

4

ALLEY & POST TESTS

POST TEST

3D

FLIGHT 

PATH

LOW

HIGH

HIGH

0 M (0 FT)

1 M (3 FT)

PERCH TEST WALL TEST G

Confined Test Lane and Rela

Standard Test Methods for Small 

ASTM International Standards Committee 

Response Robots (E54.09) | Websit

Confined Scenario: Structur

Safety | Capabiliti

OPEN OBSTRUC

TOP INDOOR ALTITUDE

2 M (6 FT)

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM 

Confined Test Lanes and Scorable Indo
4 

Metrics to Track Over Time 

Measure System Capabilities and Pilot Proficiency

Completeness: Align with every bucket in the sequence 

and land accurately according to the procedure. The 

objective is scoring ALL points possible for your aircraft 

without making mistakes.

Score: For complete trials, track your scores over time. 

The average of your last five trials is an excellent measure 

of your proficiency on the aircraft and interface used. 

Efficiency (Optional): For complete trials with maximum 

scores for a particular aircraft, the elapsed time can help 

identify the most efficient systems and techniques. Time 

limited trials can be used across multiple tests to maintain 

a schedule and similarly fatigue novices and experts. 

OBSTRUCTED | VEHICLE BUCKETS MANEUVERING (MAN) 

NUMBER 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

2 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

3 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

4 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

5 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

6 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

7 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

8 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

9 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 5 5 1 0 ––– ––– ––– ––– –––

10 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 5A 5 1 0 BL R TL L BL

11 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 6 5 1 0 ––– ––– ––– ––– –––

12 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 6A 5 1 0 TR B TR L BR

13 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 7 5 1 0 ––– ––– ––– ––– –––

14 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 7A 5 1 0 L BR T TL R

15 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 8 5 1 0 ––– ––– ––– ––– –––

16 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 8A 5 1 0 BR T TL R BL

17 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 9 5 1 0 ––– ––– ––– ––– –––

18 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 9A 5 1 0 T BL B TR L

19 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 10 5 1 0 ––– ––– ––– ––– –––

20 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 10A 5 1 0 BL R TL L BL

SCORES MAN 

/100

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAY 

/50

ALIGNMENT PAYLOAD (PAY) ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

2 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

3 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

4 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

5 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

6 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

7 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

8 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

9 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

10 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

11 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

12 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

13 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

14 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

15 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

16 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

17 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

18 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

19 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

20 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY IDENTIFIED BY 

THE PILOT DURING THE TRIAL 

4 

Page 13

m the wall guided by dual bucket alignments in various 

measures the field of view of an independent pan-tilt-zoom 

re-launch, rotate, and land to identify all the targets in order.

6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

y features upward and downward. This approximates inspection 

s and doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 13

PERCH TEST

The drone lands 2 m (6 ft) from the wall guided by dual bucket alignments in various 

orientations. A single perch measures the field of view of an independent pan-tilt-zoom 

camera. Others may need to re-launch, rotate, and land to identify all the targets in order.

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Perch (PAY 6)

Obstructed Test Lane

• Land within 2-3 m (6-10 ft) of a wall in front of the 

aircraft with ground obstacles on both sides. 

• While perched, inspect vertical and horizontal object 

features upward, downward, leftward and rightward. 

• Launch and land repeatedly if necessary to score all 

buckets in the sequence.

• Measure the field of view of the drone while perched 

with independent pan-tilt-zoom cameras. 

Payload Functionality Trials (PAY): 

• Align with the PERPENDICULAR BUCKETS first and 

capture an image of the inscribed rings that can be used 

to score up to 50 alignment points after the trial. 

• Align with the ANGLED BUCKETS second to identify as 

many acuity target gaps as possible to score up to 50 

acuity points. Call out the gap directions to the Proctor.

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

SCORED ONLY WHILE LANDED

10 Positions = 20 Buckets = 100 Total Points

LAUNCH FORWARD REVERSE FORWARD LAND

LAUNCH 1 2 3 4 3 2 1 2 3 4 LAND

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

CONFINED | VEHICLE

g p

A 3-4 person team completes all 5 tests in 2 hours.

Four person teams always have one person getting their 

aircraft ready to launch right after the previous lands.

Three person teams work too, but require some time 

between each rotation to prepare the next aircraft.

PILOT

• Maintain control of the aircraft.

• Call out each intention of movement before doing so.

• Call out each bucket alignment and acuity target gap.

PROCTOR

• Fill in the form header.

• Read the test procedures to the Pilot.

• Confirm, record, and attest to scoring after the trial.

VISUAL OBSERVER (VO)

• Maintain sight with the aircraft and surroundings.

• Repeat the Pilot’s intention of movement to confirm.

• Call out corrections and warnings as necessary. 

TEAM ROTATIONS

Page 26

e VO role going last in the rotation because as soon as the previous 

dy their aircraft to Pilot the next flight. The Pilot can put their aircraft 

ke a minute to review and attest to the trial score just completed.

PILOT PROCTOR VO

Visual Observer 

Pilot

Proctor

3 PERSON TEAM ROTATION

ON DECK

GET DRONE READY TO FLY

VO PILOT FACING AWAY FROM

THE TEST LANE

PROCTOR

WHITE BUCKETS

ILLUMINATED WITH 

RED HEADLAMPS

WHITE BUCKETS STANDS

ILLUMINATED WITH 

RED HEADLAMPS

ALTERNATING BLACK BUCKET

STANDS LEFT DARK

1

2

3

FLIGHT LINE

4

10FT 10FT 10FT 10FT

50FT

ALTITUDE 2(S)

START | END

ALTITUDE S

ALTITUDE 7(S)

ALTITUDE 5(S)

ALTITUDE 6(S)

7(S)

6(S)

5(S)

2(S)

• 7

• 

• 5

• 

• S 

5 Different Orbits in Every Lane 

(S) = 10ft, 20ft, 30ft, or ot

DATE/TIME

PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

(4) OMNI STANDS

1–4

TOP

FRONT 1A

LEFT 1B 1C BACK

1D RIGHT “A” BUCKET

ALWAYS POINTING 

TOWARD THE 

LAUNCH/LAND

PLATFORM

HANDLE

CENTERLINE

LAUNCH / LAND PLATFORM

DIGITAL CLOCK

DATE & TIME

WHITEBOARD INFO

PILOT & AIRCRAFT

(4) OMNI 

BUCKET STANDS

CENTERLINE 

MEASURING TAPE

OBSTRUCTED WALL TEST OBSTRUCTED POST TEST

45 50 65 70 70 70 75 80 80 80 81 100 100 27 36 34 45 54 41 20 21 46 44 49 52 55 0

10

20

30

40

50

60

70

80

90

100

Position Test Scores (Autels Only)

50 -- -- -- -- --

30 -- -- -- -- --

Separate Scores for ALIGNMENT and ACUITY

Track your own scores over time and/or compare to others using the same drone. 

A B C D E F G H I J K L M

EXAMPLE PASS/FAIL SCORES

SCORE

ALIGNMENT

ACUITY

Separate Scores: ALIGNMENT and ACUITY

Track and Compare Scores Using the Same Drone

START TIMER

ELASPED TIME:

(MM:SS)
Indoor and Outdoor Scenarios

Evaluate using repeatable search/inspect tasks

20 5

WHITE BUCKETS

ILLUMINATED WITH 

RED HEADLAMPS

The WALL and ALLEY test shown embedded in a room-to-room search scenario 

closet and bath tub. The pairs of of white and black buckets require exposure 

control to discern details. Also shown is a more complex overturned subway rail car 

disaster. All such scenarios get embedded with scoring tasks totaling 100 points.

Confined Vehicle Inspection Scenarios

Day and Night Trials

USE SETS OF 5 “INLINE” DUAL BUCKET RAILS 

DISTRIBUTED THROUGHOUT THE SCENARIO

ods for Small Unmanned Aircraft Systems

dards Committee on Homeland Security Applications; 

E54.09) | Website: RobotTestMethods.nist.gov

F Credentialing

 Case Examples

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

21

Confined Test Lane and Related Scenarios

Aerial Tests

Page 25 11/9/21

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Confined Scenario: Collapsed Structure Search and Inspection

One of the confined scenarios at this event were semi-collapsed structures representing environments not 

safe for responders to search given the potential for further collapse due to aftershock or structural failures. 

The inspection tasks were placed around crushed vehicles within a collapsed structure. They were also

distributed across individual rooms in a search pattern to ensure each room was inspected for victims and

other objects of interest. 

Figure 36) The collapsed structure scenario at the Guardian Centers supported a wide variety of embedded 

test methods inside the structure and around objects of interest in semi-collapsed areas.

Figure 37) LEFT: Confined test apparatuses embedded into the semi-collapsed parking garage around 

vehicles that needed to be searched for survivors within a very complex three-dimensional environment. 

We placed 5 apparatuses around the vehicles to designate 10 positions and orientations to inspect. The 

white and black bucket pairs total up to 100 points for a complete trial. RIGHT: Confined test apparatuses 

embedded in a room-to-room search within the collapsed structure. These measured the completeness of 

the room-to-room search and quantify the detailed inspections of key features within the rooms. This 

scenario also totaled 100 points for a complete trial.

DRONE

SMALL

DUAL BUCKET

APPARATUS

CRUSHED VEHICLE SEARCH ROOM TO ROOM SEARCH

SMALL

DUAL BUCKET

APPARATUS

DRONE

R

Confined Te

Figure 38) The long dark tunnel started w

Figure 39) LEFT: We used Confined dual 

outside the subway car where victims w

flew in tandem to help one another with 

interior of the overturned railcar.

Standard Test Methods for Small U

ASTM International Standards Committee on 

Response Robots (E54.09) | Website: 

Confined Test Lane and 

Aerial Te

Page 27 

Standard Test Methods for Smal

ASTM International Standards Committee 

Response Robots (E54.09) | Websi

Figure 40) The quad screen video shows the first dual buck

was the first of 10 positions and orientations inside the su

victims and identify suspicious packages.

Figure 41) LEFT: The drones were assisted downrange by t

was dark so thermal cameras were used extensively. This 

subway tracks, set up near the overturned subway car rath

communications issues and flight times for the training sce

Legged Mobility and Search Tests

Newly developed standard terrain tests for robots with leg

are quick and easy to reconfigure into increasingly difficult 

they have a grate-like surface that some autonomous robo

DRONE VIEW

IDENTIFY DETAILS ON

OBJECTS OF INTEREST

SEARCH AND INSPECT OBJECTS 

UNDER VEHICLES

INSIDE VEHICLES 

OR 

ROOM-TO-ROOM

CONFINED

ACCESS

DISASTER RESPONSE

SUCCESSFULLY ALIGNED

DRONE VIEW

g p

A 3-4 person team completes all 5 tests in 2 hours.

Four person teams always have one person getting their 

aircraft ready to launch right after the previous lands.

Three person teams work too, but require some time 

between each rotation to prepare the next aircraft.

PILOT

• Maintain control of the aircraft.

• Call out each intention of movement before doing so.

• Call out each bucket alignment and acuity target gap.

PROCTOR

• Fill in the form header.

• Read the test procedures to the Pilot.

• Confirm, record, and attest to scoring after the trial.

VISUAL OBSERVER (VO)

• Maintain sight with the aircraft and surroundings.

• Repeat the Pilot’s intention of movement to confirm.

• Call out corrections and warnings as necessary. 

TEAM ROTATIONS

Page 26

he VO role going last in the rotation because as soon as the previous 

ady their aircraft to Pilot the next flight. The Pilot can put their aircraft 

ke a minute to review and attest to the trial score just completed.

PILOT PROCTOR VO

Visual Observer 

Pilot

Proctor

3 PERSON TEAM ROTATION

ON DECK

GET DRONE READY TO FLY

VO PILOT FACING AWAY FROM

THE TEST LANE

PROCTOR

WHITE BUCKETS

ILLUMINATED WITH 

RED HEADLAMPS

WHITE BUCKETS STANDS

ILLUMINATED WITH 

RED HEADLAMPS

ALTERNATING BLACK BUCKET

STANDS LEFT DARK

1

2

3

FLIGHT LINE

4

10FT 10FT 10FT 10FT

50FT

ALTITUDE 2(S)

START | END

ALTITUDE S

ALTITUDE 7(S)

ALTITUDE 5(S)

ALTITUDE 6(S)

7(S)

6(S)

5(S)

2(S)

• 

• 

• 

• 

• 

5 Different Orbits in Every Lan

(S) = 10ft, 20ft, 30ft, or o

DATE/TIME

PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

(4) OMNI STANDS

1–4

TOP

FRONT 1A

LEFT 1B 1C BACK

1D RIGHT “A” BUCKET

ALWAYS POINTING 

TOWARD THE 

LAUNCH/LAND

PLATFORM

HANDLE

CENTERLINE

LAUNCH / LAND PLATFORM

DIGITAL CLOCK

DATE & TIME

WHITEBOARD INFO

PILOT & AIRCRAFT

(4) OMNI 

BUCKET STANDS

CENTERLINE 

MEASURING TAPE

OBSTRUCTED WALL TEST OBSTRUCTED POST TEST

45 50 65 70 70 70 75 80 80 80 81 100 100 27 36 34 45 54 41 20 21 46 44 49 52 55 0

10

20

30

40

50

60

70

80

90

100

Position Test Scores (Autels Only)

50 -- -- -- -- --

30 -- -- -- -- --

Separate Scores for ALIGNMENT and ACUITY

Track your own scores over time and/or compare to others using the same drone. 

A B C D E F G H I J K L M

EXAMPLE PASS/FAIL SCORES

SCORE

ALIGNMENT

ACUITY
6 19

Alignment Points OBSTRUCTED | POST

Scoring based on captured alignment images

Page 3

Figure 3) LEFT: Basic Maneuvering trial scores are based on bucket alignment images showing the 

inscribed ring around the inside perimeter of the bucket. RIGHT: This course focuses on Payload 

Functionality trials that add a modest operational workload at each bucket alignment by zooming into 

the acuity targets in the center of the bucket to correctly identify increasingly small features. The pilot 

Version 2022A 

INTERNAL TEAM ROTATION

THE PILOT’S BACK 

RELIANC

(VISUAL 

4) Select pilot view:

– Line of Sight or BVLOS

5) Select lighting (indoor or outdoor) for 

daylight or night credentials:

– Lighted/Daylight or Dark

ADDITIONAL

PR

INTER

IN FA

TRIALS 

USE I

ONLY FO

TRIALS 

DECL

CONCE

YOUR P

SCOR

TH

[5] Acuity targets A-B-C-D inside bottom of all

[2] Perch acuity targets inside and bottom of A

.

The bucket stands are adjusted to vertical using the slotted leg extensions so the angled buckets are at 45 degrees.

Stickers inside each bucket have a GREEN INSCRIBED RING 

to guide alignment and a visual acuity target with 

increasingly small Concentric Cs gaps to identify the 

correct (1 of 8) orientations.

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

Gap size (mm) Gap size (inches) Equivalent Avg. Human vision at 6 m (20 !)

40 mm 1.58 in 4.5 %

16 mm 0.63 in 11 %

6.4 mm 0.25 in 28 %

2.6 mm 0.10 in 70 %

1.0 mm 0.04 in 180 %

0.41 mm 0.016 in 440 %

For accurate calibration, the outer diameter of the largest Landolt C optotype should be 200 mm (7.9 in). 

Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

Nested Landolt C Vision Test Chart

#3

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

A

D

C

B 1, 2, 3, 4

LAUNCH

AD

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A ALIGNED (5 PTS)

PARTIAL (1 PT)

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) showing the 

green ring inside the bucket. Score 5 points for a 

continuous green ring or 1 point for a partial. Similar 

scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) AND a single 

acuity image of each target (MAX ZOOM). Score 1 

point for each correct identification of the 5 

increasingly small Concentric C gap directions.

ALIGN WITH BUCKETS AND LAND ACCURATELYALIGN AND IDENTIFY ACUITY TARGETS

20 ALIGNMENTS TOTAL UP TO 100 POINTS 20 TARGETS TOTAL UP TO 100 POINTS

Safety | Capabilities | Proficiency

DOJ/DHS National Unmanned Aircraft Systems Program Evaluation, August 2

I

CONFINED TE

G

DA

D

A

A

PR

OPEN TEST LANE

B

LENGTH: 30/60 M (100/200 FT)

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

AT 2 M (6 FT) 

PROXIMITY TO 

OBSTACLES

LENGTH: 15 M (50 FT) LENGTH: 7.5 M 

ACCURATE (5 PTS)

Align with each bucket long enough to verify the 

inscribed ring and declare as many of the 5 Concentric 

C gap directions as possible to score 1 point each. Use 

video or zoomed in images after the trial to score 

yourself, although scores may differ from live trials. 

ALIGN WITH BUCKETS TO CAPTURE IMAGES

• First align with each PERPENDICULAR BUCKET to 

capture a SINGLE ALIGNMENT IMAGE of the 

inscribed ring.

• Score captured images with 

- UNBROKEN RINGS (5 points)

- BROKEN RINGS (1 point)

- NO RINGS (0 points, strike through line)

• Accurate landings are not scored. 

• Verification of captured alignment images can be 

during the trial when obvious or after the trial to 

eliminate discussions during the trial. Images can 

also be stored for documentation.

BROKEN (1 PT)

CAPTURE IMAGES OF THE INSCRIBED RINGS AND PERCH ACCURATELY.

BUCKETS MANEUVERING (MAN) 

NUMBER CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

2 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

3 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

4 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

5 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

6 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

7 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

8 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

9 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

10 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

11 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

12 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

13 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

14 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

15 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

16 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

17 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

18 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

19 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

20 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

2 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

3 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

4 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

5 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

6 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

7 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

8 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

9 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

10 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

11 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

12 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

13 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

14 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

15 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

16 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

17 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

18 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

19 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

20 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY IDENTIFIED BY 

THE PILOT DURING THE TRIAL 

Page 13

e wall guided by dual bucket alignments in various 

res the field of view of an independent pan-tilt-zoom 

unch, rotate, and land to identify all the targets in order.

ft) of the wall at 45 degrees from forward of the aircraft to 

tures upward and downward. This approximates inspection 

doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 13

PERCH TEST

The drone lands 2 m (6 ft) from the wall guided by dual bucket alignments in various 

orientations. A single perch measures the field of view of an independent pan-tilt-zoom 

camera. Others may need to re-launch, rotate, and land to identify all the targets in order.

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Perch (PAY 6)

Obstructed Test Lane

• Land within 2-3 m (6-10 ft) of a wall in front of the 

aircraft with ground obstacles on both sides. 

• While perched, inspect vertical and horizontal object 

features upward, downward, leftward and rightward. 

• Launch and land repeatedly if necessary to score all 

buckets in the sequence.

• Measure the field of view of the drone while perched 

with independent pan-tilt-zoom cameras. 

Payload Functionality Trials (PAY): 

• Align with the PERPENDICULAR BUCKETS first and 

capture an image of the inscribed rings that can be used 

to score up to 50 alignment points after the trial. 

• Align with the ANGLED BUCKETS second to identify as 

many acuity target gaps as possible to score up to 50 

acuity points. Call out the gap directions to the Proctor.

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

SCORED ONLY WHILE LANDED

10 Positions = 20 Buckets = 100 Total Points

LAUNCH FORWARD REVERSE FORWARD LAND

LAUNCH 1 2 3 4 3 2 1 2 3 4 LAND

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

10 ALIGNMENT RINGS TOTAL 50 POINTS

CONFINED | POST

START TIMER

ELASPED TIME:

(MM:SS)
7

Acuity Points

Scoring based on identifying details

ALIGN THEN CONTROL ZOOM AND EXPOSURE

• Then align with each ANGLED BUCKET to IDENTIFY 

ACUITY TARGETS using camera zoom and exposure 

controls. 

• Call out as many of the Concentric C gap directions as 

possible (1 pt each).

• Fly facing away from the test lane or scenario

with a Visual Observer to evaluate flying interface 

only as if beyond visual line of sight.

Page 3

Figure 3) LEFT: Basic Maneuvering trial scores are based on bucket alignment images showing the 

inscribed ring around the inside perimeter of the bucket. RIGHT: This course focuses on Payload 

Functionality trials that add a modest operational workload at each bucket alignment by zooming into 

the acuity targets in the center of the bucket to correctly identify increasingly small features. The pilot 

Version 2022A 

INTERNAL TEAM ROTATION

4) Select pilot view:

– Line of Sight or BVLOS

5) Select lighting (indoor or outdoor) for 

daylight or night credentials:

– Lighted/Daylight or Dark

ADDITIONAL

[5] Acuity targets A-B-C-D inside bottom of all

[2] Perch acuity targets inside and bottom of A

.

The bucket stands are adjusted to vertical using the slotted leg extensions so the angled buckets are at 45 degrees.

Stickers inside each bucket have a GREEN INSCRIBED RING 

to guide alignment and a visual acuity target with 

increasingly small Concentric Cs gaps to identify the 

correct (1 of 8) orientations.

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

Gap size (mm) Gap size (inches) Equivalent Avg. Human vision at 6 m (20 !)

40 mm 1.58 in 4.5 %

16 mm 0.63 in 11 %

6.4 mm 0.25 in 28 %

2.6 mm 0.10 in 70 %

1.0 mm 0.04 in 180 %

0.41 mm 0.016 in 440 %

For accurate calibration, the outer diameter of the largest Landolt C optotype should be 200 mm (7.9 in). 

Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications;

Operational Equipment; Robots (E54.08.01)

Nested Landolt C Vision Test Chart

#3

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

A

D

C

B 1, 2, 3, 4

LAUNCH

AD

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A ALIGNED (5 PTS)

PARTIAL (1 PT)

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) showing the 

green ring inside the bucket. Score 5 points for a 

continuous green ring or 1 point for a partial. Similar 

scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) AND a single 

acuity image of each target (MAX ZOOM). Score 1 

point for each correct identification of the 5 

increasingly small Concentric C gap directions.

ALIGN WITH BUCKETS AND LAND ACCURATELYALIGN AND IDENTIFY ACUITY TARGETS

20 ALIGNMENTS TOTAL UP TO 100 POINTS 20 TARGETS TOTAL UP TO 100 POINTS

Safety | Capabilities | Proficiency

DOJ/DHS National Unmanned Aircraft Systems Program Evaluation, A

I

COOPEN TEST LANE

B

LENGTH: 30/60 M (100/200 FT)

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

AT 2 M (6 FT) 

PROXIMITY TO 

OBSTACLES

LENGTH: 15 M (50 FT) L

ACCURATE (5 PTS)

Align with each bucket long enough to verify the 

inscribed ring and declare as many of the 5 Concentric 

C gap directions as possible to score 1 point each. Use 

video or zoomed in images after the trial to score 

yourself, although scores may differ from live trials. 

Unmanned Aircraft Systems Small Standard Test Methods for 

ASTM International Standards Committee for Homeland Security Applications;

RobotTestMethods.nist.gov Website: Response Robots (E54.09)

as many of the ts when correctly identifying scores poin and when they are aligned res the verbally decla

center acuity target. directions in the gap 5 increasingly small Concentric C 

. Alternating black trials Figure 4) All white omni bucket stands are used to evaluate Basic Maneuvering

. The visual acuity targets inside are trials omni bucket stands evaluate Payload Functionality and white 

Alternating either black on white or white on black to maintain the intended contrast with the buckets. 

e points. forces control of exposure to score all availabl buckets 

11/9/21 5 Page 

RobotTestMethods.nist.gov Response Robots (E54.09) | Website: 

Figure 5) There are two ways to conduct test trials in the most basic Open Test Lane. LEFT: Basic 

ite buckets to guide alignments with to capture NO ZOOM images. RIGHT: Maneuvering trials use only wh

Payload Functionality trials add some operational workload to each bucket alignment task by capturing 

hite and black buckets MAX ZOOM images of the visual/thermal acuity targets. They also use alternating w

to maximize exposure control.

Figure 6) Open test lanes with all white buckets are used to evaluate basic Maneuvering trials only, which is 

buckets are used to the typical starting point for novice pilots. Test lanes with alternating white and black 

evaluate operational readiness and system capabilities.

Conduct Tests Two Ways

Open Test Lane

] [

extensions leg Slotted ] 4[

the for nuts wing and bolts hanger in 2 x 20 - 1⁄4 ] 8[

tighten and on slide to extensions leg

stickers weatherproof diameter in 8 ] 15 [

files) sticker the download to website see (

bucket top the inside 1- 1- 1- 1 numbers Big ] 4[

bucket top the around D- C- B- A letters Big ] 4[

all of bottom inside D- C- B- A targets Acuity ] 5[

A of bottom and inside targets acuity Perch ] 2[

.

the angled buckets are at 45 degrees. so extensions leg slotted The bucket stands are adjusted to vertical using the 

Stickers inside each bucket have a GREEN INSCRIBED RING 

to guide alignment and a visual acuity target with 

increasingly small Concentric Cs gaps to identify the 

correct (1 of 8) orientations.

TOP

( T )

( B )

BOTTOM 

( TR ) TOP RIGHT

( R ) RIGHT

( BR ) BOTTOM RIGHT

TOP LEFT ( TL )

LEFT ( L )

BOTTOM LEFT ( BL )

A

) ! Equivalent Avg. Human vision at 6 m (20 Gap size (inches) Gap size (mm) 4.5 % 1.58 in 40 mm

11 % 0.63 in 16 mm

28 % 0.25 in 6.4 mm

70 % 0.10 in 2.6 mm

180 % 0.04 in 1.0 mm

440 % 0.016 in 0.41 mm

For accurate calibration, the outer diameter of the largest Landolt C optotype should be 200 mm (7.9 in). 

Standard Test Methods for Response Robots ASTM International Standards Committee on Homeland Security Applications; Operational Equipment; Robots (E54.08.01)

Nested Landolt C Vision Test Chart

#3

DATE/TIME PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

300 FT MEASURING TAPE - 100

A

D

C

1, 2, 3, 4 B

LAUNCH

DA

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A PARTIAL (1 PT) ALIGNED (5 PTS)

a enough to capture each bucket long Align with 

the showing (NO ZOOM) single alignment image 

bucket. Score 5 points for a ring inside the green 

continuous green ring or 1 point for a partial green 

ring. Similar scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

of each bucket ) single alignment image (NO ZOOM

of each MAX ZOOM) single acuity image ( AND a 

target. Score 1 point for each correct identification of 

. directions increasingly small Concentric C gap 5 the 

) Basic Maneuvering (MAN

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

UP TO 100 POINTS TARGETS TOTAL 20 20 ALIGNMENTS TOTAL UP TO 100 POINTS

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

RobotTestMethods.nist.gov Response Robots (E54.09) | Website: 

Montgomery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

Program Evaluation, August 2020 DOJ/DHS National Unmanned Aircraft Systems 

I

CONFINED TEST LANE

GPS DENIED

d an

DARK (<1 LUX)

DUAL BUCKET 

ALIGNMENTS

AT 1 M (3 FT) 

PROXIMITY TO 

OBSTACLES

LANE OPEN TEST 

B

FT) LENGTH: 30/60 M (100/200 

E

OBSTRUCTED TEST LANE

DUAL BUCKET 

ALIGNMENTS

(6 FT) AT 2 M

PROXIMITY TO 

OBSTACLES

FT) LENGTH: 7.5 M (25 FT) LENGTH: 15 M (50 

ACCURATE (5 PTS)

BLACK BUCKETS & COLOR RINGS 

EMBEDDED INTO SCENARIOS

1

TOP

1A FRONT 

BACK 1C 1B LEFT 

RIGHT 1D 

ALL “A” BUCKETS

POINT TOWARD THE 

LAUNCH LAND /

HANDLE

CENTERLINE

ONLY THE NUMBERS 

CHANGE FOR EACH 

OMNI BUCKET STAND

1A

BROKEN INNER BLACK EDGE

IS THE JUDGEMENT POINT

POST

LEGS 

FLUSH WITH TOP

SHOWN ALIGNED ALIGNED NOT SHOWN 

BUCKETS & GREEN RINGS WHITE 

STANDARD TEST LANES IN 

ings for Different Flight Credentials

d Evaluate Proficiency for Credentialing

Night Ops BVLOS Daylight/LOS CREDENTIALS

Standard Lane 

(Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

Embedded Scenario

(Indoor or Outdoor)

Pilot’s Eyes On 

(Available)

Pilot’s Back Turned

(Interface Only) Lights Out, Buckets Lit

ILLUMINATED BUCKETS PROVIDE 

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

’

t: 

h) 

 

als:

Line of SightE LAN FACINGInstruments Only D TURNE BACK

Interface

Only

BACK TURNED

Line of

Sight

FACING LANE

REPORT GAP DIRECTIONS RELATIVE TO THE BUCKET NUMBER (TOP)

TEST OR 

SCENARIO

Pilot with Interface

FACING AWAY

Visual Observer

FACING AIRCRAFT

Page 15

 ft) all around the post at different elevations to inspect 

his approximates inspecting elevated objects near walls or 

me for all Obstructed tests. Each test has dual bucket alignments 

med in a sequence that results in 10 dual bucket alignments with

uence includes some backtracking to ensure the tasks are 

tive to the obstacles involved. The sequence of positions is

then forward order. The sequence is 1 2 3 4 – 3 2 1 – 2 3 4 with 

ing the backtracking part of the sequence.

al totals up to 100 points maximum for 20 bucket alignments. 

oom image of each bucket showing either a full alignment ring (5 

oint), or no alignment ring (0 point). 

ndicular buckets are scored for alignments (up to 5 points each). 

y points (up to 5 points each). Payload Functionality trials add an 

uity targets while aligned with buckets. The level of maneuvering 

m can discern results in the total score. Each acuity target has 5 

to identify correctly. The smallest features are 1 mm (0.04 in) 

ng labels, for example. Each identifiable gap orientation is 

1

2 4

3

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Post (PAY 10)

Confined Test Lane

POST TEST

The drone flies within 2-3 m (6-10 ft) all around the post at different elevations to inspect 

objects upward and downward. This approximates inspecting elevated objects near walls or 

other obstacles.

Procedure: The procedure is the same for all Obstructed tests. Each test has dual bucket alignments 

designated 1 – 4 that at are performed in a sequence that results in 10 dual bucket alignments with

20 total bucket alignments. The sequence includes some backtracking to ensure the tasks are 

performed in various directions relative to the obstacles involved. The sequence of positions is

conducted in forward then reverse then forward order. The sequence is 1 2 3 4 – 3 2 1 – 2 3 4 with 

the red underlined numbers indicating the backtracking part of the sequence.

Maneuvering Trials: A complete trial totals up to 100 points maximum for 20 bucket alignments. 

Points are scored using a single no zoom image of each bucket showing either a full alignment ring (5 

points), a partial alignment ring (1 point), or no alignment ring (0 point). 

Payload Functionality Trials: Perpendicular buckets are scored for alignments (up to 5 points each). 

Angled buckets are scored for acuity points (up to 5 points each). Payload Functionality trials add an 

operational workload to identify acuity targets while aligned with buckets. The level of maneuvering 

plus visual/thermal detail the system can discern results in the total score. Each acuity target has 5 

increasingly small gap orientations to identify correctly. The smallest features are 1 mm (0.04 in) 

needed to read small text on shipping labels, for example. Each identifiable gap orientation is 

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 FT)

TOP VIEW

1

2 3

4

1

2 4

3

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

2.4 M (8 FT) 2.4 M (8 FT)

10 ACUITY TARGETS TOTAL 50 POINTS

Page 15

The drone flies within 2-3 m (6-10 ft) all around the post at different elevations to inspect 

objects upward and downward. This approximates inspecting elevated objects near walls or 

other obstacles.

Procedure: The procedure is the same for all Obstructed tests. Each test has dual bucket alignments 

designated 1 – 4 that at are performed in a sequence that results in 10 dual bucket alignments with

20 total bucket alignments. The sequence includes some backtracking to ensure the tasks are 

performed in various directions relative to the obstacles involved. The sequence of positions is

conducted in forward then reverse then forward order. The sequence is 1 2 3 4 – 3 2 1 – 2 3 4 with 

the red underlined numbers indicating the backtracking part of the sequence.

Maneuvering Trials: A complete trial totals up to 100 points maximum for 20 bucket alignments. 

Points are scored using a single no zoom image of each bucket showing either a full alignment ring (5 

points), a partial alignment ring (1 point), or no alignment ring (0 point). 

Payload Functionality Trials: Perpendicular buckets are scored for alignments (up to 5 points each). 

Angled buckets are scored for acuity points (up to 5 points each). Payload Functionality trials add an 

operational workload to identify acuity targets while aligned with buckets. The level of maneuvering 

plus visual/thermal detail the system can discern results in the total score. Each acuity target has 5 

increasingly small gap orientations to identify correctly. The smallest features are 1 mm (0.04 in) 

needed to read small text on shipping labels, for example. Each identifiable gap orientation is 

WALL | FENCE | OBSTACLE 4 M (12 FT) 6 M (20 FT)

TOP VIEW

1

2 3

4

1

2 4

3

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

2.4 M (8 FT)

• Center the Post apparatus in a 2.4m (8 ft) cubic space 

or shipping container with the vertical task elevations 

at 1m (3ft) and 2m (6 ft) above the ground.

• Fly within 1 m (3 ft) of the post to inspect vertical 

object features upward and downward. 

• Pass between the post and walls throughout.

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A 

SINGLE IMAGE OF THE ALIGNMENT RING for scoring during 

or after the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring.
Teams Rotate Through Each Role

Each Pilot flies a 5-minute trial with help from others. 

A 3-4 person team completes all 5 tests in 2 hours.

Four person teams always have one person getting their 

aircraft ready to launch right after the previous lands.

Three person teams work too, but require some time 

between each rotation to prepare the next aircraft.

PILOT

• Maintain control of the aircraft.

• Call out each intention of movement before doing so.

• Call out each bucket alignment and acuity target gap.

PROCTOR

• Fill in the form header.

• Read the test procedures to the Pilot.

• Confirm, record, and attest to scoring after the trial.

VISUAL OBSERVER (VO)

• Maintain sight with the aircraft and surroundings.

• Repeat the Pilot’s intention of movement to confirm.

• Call out corrections and warnings as necessary. 8 17

TEAM ROTATIONS

Page 26

aks together because all three roles are essential for safe trials, so 

ware, software, and personal issues that might happen.

role going last in the rotation because as soon as the previous 

eir aircraft to Pilot the next flight. The Pilot can put their aircraft 

inute to review and attest to the trial score just completed.

PILOT PROCTOR VO

Visual Observer 

Pilot

Proctor

3 PERSON TEAM ROTATION

ON DECK

GET DRONE READY TO FLY

VO PILOT

FACING AWAY FROM

THE TEST LANE

PROCTOR

OBSTRUCTED | ALLEY BUCKETS MANEUVERING (MAN) 

NUMBER CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

2 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

3 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

4 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

5 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

6 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

7 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

8 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

9 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

10 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

11 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

12 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

13 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

14 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

15 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

16 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

17 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

18 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

19 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

20 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

2 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

3 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

4 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

5 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

6 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

7 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

8 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

9 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

10 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

11 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

12 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

13 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

14 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

15 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

16 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

17 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

18 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

19 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

20 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY IDENTIFIED BY 

THE PILOT DURING THE TRIAL 

Page 13

e wall guided by dual bucket alignments in various 

res the field of view of an independent pan-tilt-zoom 

unch, rotate, and land to identify all the targets in order.

ft) of the wall at 45 degrees from forward of the aircraft to 

tures upward and downward. This approximates inspection 

doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 13

PERCH TEST

The drone lands 2 m (6 ft) from the wall guided by dual bucket alignments in various 

orientations. A single perch measures the field of view of an independent pan-tilt-zoom 

camera. Others may need to re-launch, rotate, and land to identify all the targets in order.

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Perch (PAY 6)

Obstructed Test Lane

• Land within 2-3 m (6-10 ft) of a wall in front of the 

aircraft with ground obstacles on both sides. 

• While perched, inspect vertical and horizontal object 

features upward, downward, leftward and rightward. 

• Launch and land repeatedly if necessary to score all 

buckets in the sequence.

• Measure the field of view of the drone while perched 

with independent pan-tilt-zoom cameras. 

Payload Functionality Trials (PAY): 

• Align with the PERPENDICULAR BUCKETS first and 

capture an image of the inscribed rings that can be used 

to score up to 50 alignment points after the trial. 

• Align with the ANGLED BUCKETS second to identify as 

many acuity target gaps as possible to score up to 50 

acuity points. Call out the gap directions to the Proctor.

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

SCORED ONLY WHILE LANDED

10 Positions = 20 Buckets = 100 Total Points

LAUNCH FORWARD REVERSE FORWARD LAND

LAUNCH 1 2 3 4 3 2 1 2 3 4 LAND

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

CONFINED | ALLEY

START TIMER

ELASPED TIME:

(MM:SS)
Teams Sequence Through Scenarios

Each Pilot flies a 15-minute scenario, sequencing 

through 3 objectives for 5 minutes each.

OTHER OBJECT

< 10 FT

ALTITUDE AND RADIUS

10 FT

7 of 11

Standard Test Methods for Small Unmanned Aircraft Systems ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maintain Physical Distancing and Wear Face Coverings

Participants are not required to wear face coverings when working alone outdoors, except when others are 

present. Participants will carry face coverings and wear these when others approach. Minimum physical distances 

of 2 m (6 ft) will be maintained at all times.

Wash Hands Often and Disinfect Surfaces

Participants will wash their hands at the outdoor hand-washing station set up for the event. They should also 

disinfect commonly touched surfaces before initial use and after.

Safety Briefings and Other Gatherings

Safety briefings will be conducted each morning in the outdoor pavilion with physical distancing and mask wearing. 

Any gathering of people on the site should include physical distancing and masks. 

 Figure 1: LEFT) The outdoor pavilion will be set up for physical distancing. RIGHT) It can contain at least 14 people 

seated and 14 more standing in the designated surrounding locations. All are more than 2 m (6 ft) apart.

Pilot Stations:

Each test lane and scenario distributed across the site will have an EZ Up tent which is 3 m (10 ft) square to provide 

shade as a pilot station. There will be no more than four people at any single EZ Up.

Figure 2: Each pilot station typically includes a Pilot, Proctor, and Videographer. All will remain at least 2 m (6 ft) 

apart.

3 m (10 ft)

3 m (10 ft)

TEST LANE or SCENARIO

VIDEOGRAPHER PROCTOR PILOT

PILOTS

A

B C

D

INSPECT 

< 50 FT

ALTITUDE AND RADIUS

OVERWATCH 

< 200 FT

ALTITUDE AND RADIUS C

D

B

A

LAUNCH/LAND

CENTER

OVERWATCH

INSPECT

OBJECT

VEHICLE

STRUCTURE

ANYTHING OTHER OBJECT

< 10 FT

ALTITUDE AND RADIUS

10 FT

7 of 11

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maintain Physical Distancing and Wear Face Coverings

Participants are not required to wear face coverings when working alone outdoors, except when others are 

present. Participants will carry face coverings and wear these when others approach. Minimum physical distances 

of 2 m (6 ft) will be maintained at all times.

Wash Hands Often and Disinfect Surfaces

Participants will wash their hands at the outdoor hand-washing station set up for the event. They should also 

disinfect commonly touched surfaces before initial use and after.

Safety Briefings and Other Gatherings

Safety briefings will be conducted each morning in the outdoor pavilion with physical distancing and mask wearing. 

Any gathering of people on the site should include physical distancing and masks. 

 Figure 1: LEFT) The outdoor pavilion will be set up for physical distancing. RIGHT) It can contain at least 14 people 

seated and 14 more standing in the designated surrounding locations. All are more than 2 m (6 ft) apart.

Pilot Stations:

Each test lane and scenario distributed across the site will have an EZ Up tent which is 3 m (10 ft) square to provide 

shade as a pilot station. There will be no more than four people at any single EZ Up.

Figure 2: Each pilot station typically includes a Pilot, Proctor, and Videographer. All will remain at least 2 m (6 ft) 

apart.

3 m (10 ft)

3 m (10 ft)

TEST LANE or SCENARIO

VIDEOGRAPHER PROCTOR PILOT

PILOTS

A

B C

D

INSPECT 

< 50 FT

ALTITUDE AND RADIUS

OVERWATCH 

< 200 FT

ALTITUDE AND RADIUS C

D

B

A

LAUNCH/LAND

CENTER

OVERWATCH

INSPECT

OBJECT

VEHICLE

STRUCTURE

ANYTHING

9

• This scenario mechanization enables embedded 

bucket scoring tasks to be performed similarly by all 

participating Pilots. So the results are comparable 

within the same scenario layout. Additional tactics 

can be overlayed onto these scenarios at your facility.

• Up to 3 teams concurrently fly different scenario 

objectives from safe distances and altitudes apart.

• Teams move as necessary to maintain sight lines with 

their aircraft and communications with other teams. 

The overwatch team leads communications. 

• Scenarios restart every 20 minutes with a different 

rotation of Pilot, Proctor, and VO.

ROTATION

Page 14

0 ft) of the wall and ground along a line parallel to the wall 

 features all around. This approximates inspecting ground 

cles. 

1 4 2 3

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 14

ALLEY TEST

The drone flies within 2-3 m (6-10 ft) of the wall and ground along a line parallel to the wall 

while rotating in place to identify features all around. This approximates inspecting ground 

objects near walls or other obstacles. 

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1 4 2 3

4 3

1 2

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Alley (PAY 9)

Confined Test Lane

• Place the Alley apparatus in a 2.4m (8 ft) cubic space 

with ceiling (or shipping container) with the horizontal 

tasks centered along opposing side walls.

• Fly within 1 m (3 ft) to perform the alignments with the 

walls in front of the aircraft (0 degrees) and behind the 

aircraft (180 degrees).

• Inspect horizontal objects leftward and rightward.

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A SINGLE 

IMAGE OF THE ALIGNMENT RING for scoring during or after 

the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring.

Page 13

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

1

3 4

2

3 2 4

1

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

2.4 M (8 FT)

Page 14

The drone flies within 2-3 m (6-10 ft) of the wall and ground along a line parallel to the wall 

while rotating in place to identify features all around. This approximates inspecting ground 

objects near walls or other obstacles. 

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1 4 2 3

4 3

1 2

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – 

2.4 M (8 FT) 2.4 M (8 FT)
10 15

OBSTRUCTED | GROUND BUCKETS MANEUVERING (MAN) 

NUMBER CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

2 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

3 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

4 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

5 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

6 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

7 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

8 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

9 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

10 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

11 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

12 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

13 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

14 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

15 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

16 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

17 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

18 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

19 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

20 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

2 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

3 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

4 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

5 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

6 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

7 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

8 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

9 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

10 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

11 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

12 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

13 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

14 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

15 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

16 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

17 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

18 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

19 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

20 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY IDENTIFIED BY 

THE PILOT DURING THE TRIAL 

Page 13

e wall guided by dual bucket alignments in various 

res the field of view of an independent pan-tilt-zoom 

unch, rotate, and land to identify all the targets in order.

ft) of the wall at 45 degrees from forward of the aircraft to 

tures upward and downward. This approximates inspection 

doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 13

PERCH TEST

The drone lands 2 m (6 ft) from the wall guided by dual bucket alignments in various 

orientations. A single perch measures the field of view of an independent pan-tilt-zoom 

camera. Others may need to re-launch, rotate, and land to identify all the targets in order.

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Perch (PAY 6)

Obstructed Test Lane

• Land within 2-3 m (6-10 ft) of a wall in front of the 

aircraft with ground obstacles on both sides. 

• While perched, inspect vertical and horizontal object 

features upward, downward, leftward and rightward. 

• Launch and land repeatedly if necessary to score all 

buckets in the sequence.

• Measure the field of view of the drone while perched 

with independent pan-tilt-zoom cameras. 

Payload Functionality Trials (PAY): 

• Align with the PERPENDICULAR BUCKETS first and 

capture an image of the inscribed rings that can be used 

to score up to 50 alignment points after the trial. 

• Align with the ANGLED BUCKETS second to identify as 

many acuity target gaps as possible to score up to 50 

acuity points. Call out the gap directions to the Proctor.

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

SCORED ONLY WHILE LANDED

10 Positions = 20 Buckets = 100 Total Points

LAUNCH FORWARD REVERSE FORWARD LAND

LAUNCH 1 2 3 4 3 2 1 2 3 4 LAND

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

CONFINED | GROUND

Page 13

e wall guided by dual bucket alignments in various 

ures the field of view of an independent pan-tilt-zoom 

unch, rotate, and land to identify all the targets in order.

 ft) of the wall at 45 degrees from forward of the aircraft to 

tures upward and downward. This approximates inspection 

d doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 13

PERCH TEST

The drone lands 2 m (6 ft) from the wall guided by dual bucket alignments in various 

orientations. A single perch measures the field of view of an independent pan-tilt-zoom 

camera. Others may need to re-launch, rotate, and land to identify all the targets in order.

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Perch (PAY 6)

Obstructed Test Lane

• Fly near the ground and perch within 1 m (3 ft) of a wall 

or obstacle in front of the aircraft with ground obstacles 

on both sides. 

• Inspect vertical and horizontal object features upward, 

downward, leftward and rightward. 

• BUCKET #2 MUST BE ALIGNED WHILE PERCHED, but all 

others can be aligned/identified either while perched or 

hovering as if inspecting underbody objects of interest. 

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A SINGLE 

IMAGE OF THE ALIGNMENT RING for scoring during or after 

the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring..

#2 ALIGNMENT WHILE PERCHED

START TIMER

ELASPED TIME:

(MM:SS)
11

OBSTRUCTED | PERCH

Page 13

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

GROUND TEST

The drone flies within 2-3 m (6-10 ft) of the ground to align with buckets and identify features 

leftward and rightward. This approximates inspection tasks around ground objects.

ALLEY TEST

The drone flies within 2-3 m (6-10 ft) of the wall and ground along a line parallel to the wall 

while rotating in place to identify features all around. This approximates inspecting ground 

objects near walls or other obstacles. 

WALL | FENCE | OBSTACLE4 M (12 FT) 6 M (20 FT)

1

3

4

2

1 3

4

2

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1 4 2 3

4 3

1 2

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Ground (PAY 8)

Confined Test Lane

• Place the Ground apparatus in a 2.4m (8 ft) cubic space 

with ceiling (or shipping container) with the horizontal 

tasks centered between the side walls.

• Fly within 1 m (3 ft) to perform the alignments with the 

walls at 90 degrees from forward of the aircraft.

• Inspect horizontal objects leftward and rightward.

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A SINGLE 

IMAGE OF THE ALIGNMENT RING for scoring during or after 

the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring.

Page 13

 ft) of the wall at 45 degrees from forward of the aircraft to 

atures upward and downward. This approximates inspection 

d doors.

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

obots (E54.09) Website: RobotTestMethods.nist.gov

Page 14

ft) of the ground to align with buckets and identify features 

ximates inspection tasks around ground objects.

ft) of the wall and ground along a line parallel to the wall 

eatures all around. This approximates inspecting ground 

es. 

1 3

4

2

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

1 4 2 3

4 M (12 FT)

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

BUCKETS MANEUVERING (MAN) 

NUMBER CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

2 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

3 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

4 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

5 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

6 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

7 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

8 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

9 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

10 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

11 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

12 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

13 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

14 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

15 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

16 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

17 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

18 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

19 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

20 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

2 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

3 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

4 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

5 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

6 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

7 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

8 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

9 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

10 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

11 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

12 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

13 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

14 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

15 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

16 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

17 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

18 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

19 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

20 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY IDENTIFIED BY 

THE PILOT DURING THE TRIAL 

Page 13

e wall guided by dual bucket alignments in various 

res the field of view of an independent pan-tilt-zoom 

unch, rotate, and land to identify all the targets in order.

ft) of the wall at 45 degrees from forward of the aircraft to 

tures upward and downward. This approximates inspection 

doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 13

PERCH TEST

The drone lands 2 m (6 ft) from the wall guided by dual bucket alignments in various 

orientations. A single perch measures the field of view of an independent pan-tilt-zoom 

camera. Others may need to re-launch, rotate, and land to identify all the targets in order.

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Perch (PAY 6)

Obstructed Test Lane

• Land within 2-3 m (6-10 ft) of a wall in front of the 

aircraft with ground obstacles on both sides. 

• While perched, inspect vertical and horizontal object 

features upward, downward, leftward and rightward. 

• Launch and land repeatedly if necessary to score all 

buckets in the sequence.

• Measure the field of view of the drone while perched 

with independent pan-tilt-zoom cameras. 

Payload Functionality Trials (PAY): 

• Align with the PERPENDICULAR BUCKETS first and 

capture an image of the inscribed rings that can be used 

to score up to 50 alignment points after the trial. 

• Align with the ANGLED BUCKETS second to identify as 

many acuity target gaps as possible to score up to 50 

acuity points. Call out the gap directions to the Proctor.

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

SCORED ONLY WHILE LANDED

10 Positions = 20 Buckets = 100 Total Points

LAUNCH FORWARD REVERSE FORWARD LAND

LAUNCH 1 2 3 4 3 2 1 2 3 4 LAND

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

WHILE PERCHED

CONFINED | PERCH

2.4 M (8 FT)

Page 13

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

1

3 4

2

3 2 4

1

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

2.4 M (8 FT)

WHILE PERCHED

WHILE PERCHED

START TIMER

ELASPED TIME:

(MM:SS)
13

OBSTRUCTED| WALL

Page 13

 ft) of the wall at 45 degrees from forward of the aircraft to 

tures upward and downward. This approximates inspection 

d doors.

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 13

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Wall (PAY 7)

Confined Test Lane

• Place the Wall apparatus in a 2.4m (8 ft) cubic space 

with ceiling (or shipping container) with the vertical 

tasks at 1m (3ft) and 2m (6 ft) elevations.

• Fly within 1 m (3 ft) to perform the alignments with the 

wall at 45 degrees from forward of the aircraft.

• Inspect vertical objects upward and downward.

SCORING

Alignment Points in Perpendicular Buckets (50 Total):

Align with each perpendicular bucket to CAPTURE A SINGLE 

IMAGE OF THE ALIGNMENT RING for scoring during or 

after the trial. 

Acuity Points in Angled Buckets (50 Total): 

Align with each angled bucket to IDENTIFY ACUITY GAPS 

through the pilot interface. Images are optional for 

documentation but use the answer key for scoring.

BUCKETS MANEUVERING (MAN) 

NUMBER CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

2 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

3 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

4 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

5 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

6 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

7 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

8 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

9 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

10 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

11 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

12 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

13 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 1 5 1 0 ––– ––– ––– ––– –––

14 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 1A 5 1 0 TR B TR L BR

15 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 2 5 1 0 ––– ––– ––– ––– –––

16 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 2A 5 1 0 L BR T TL R

17 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 3 5 1 0 ––– ––– ––– ––– –––

18 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 3A 5 1 0 BR T TL R BL

19 ALIGN WITH BOTH BUCKETS TO CAPTURE TWO IMAGES 4 5 1 0 ––– ––– ––– ––– –––

20 CALL OUT THE VISUAL ACUITY GAP DIRECTIONS 4A 5 1 0 T BL B TR L

SCORES MAN 

/100

PAYLOAD (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY 

IDENTIFIED DURING THE TRIAL 

PAY 

/50

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

ALIGNMENT ACUITY

CIRCLE GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

MANEUVERING (MAN) 

CIRCLE POINTS SCORED IN 

EACH ALIGNMENT IMAGE 

1 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

2 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

3 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

4 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

5 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

6 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

7 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

8 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

9 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

10 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

11 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

12 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

13 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 1 5pt 1pt 

14 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 1A TR B TR L BR

15 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 2 5pt 1pt 

16 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 2A L BR T TL R

17 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 3 5pt 1pt 

18 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 3A BR T TL R BL

19 PERPENDICULAR BUCKET : ALIGN AND CAPTURE IMAGE 4 5pt 1pt 

20 ANGLED BUCKET: CALL OUT ACUITY GAP DIRECTIONS 4A T BL B TR L

 STOP TIMER (CAPTURE CLOCK IMAGE) : : 

PAYLOAD FUNCTIONALITY (PAY) 

 START TIMER (CAPTURE CLOCK IMAGE) : : 

CIRCLE GAPS CORRECTLY IDENTIFIED BY 

THE PILOT DURING THE TRIAL 

Page 13

e wall guided by dual bucket alignments in various 

res the field of view of an independent pan-tilt-zoom 

unch, rotate, and land to identify all the targets in order.

ft) of the wall at 45 degrees from forward of the aircraft to 

tures upward and downward. This approximates inspection 

doors.

1

3 4

2

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Page 13

PERCH TEST

The drone lands 2 m (6 ft) from the wall guided by dual bucket alignments in various 

orientations. A single perch measures the field of view of an independent pan-tilt-zoom 

camera. Others may need to re-launch, rotate, and land to identify all the targets in order.

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

Perch (PAY 6)

Obstructed Test Lane

• Land within 2-3 m (6-10 ft) of a wall in front of the 

aircraft with ground obstacles on both sides. 

• While perched, inspect vertical and horizontal object 

features upward, downward, leftward and rightward. 

• Launch and land repeatedly if necessary to score all 

buckets in the sequence.

• Measure the field of view of the drone while perched 

with independent pan-tilt-zoom cameras. 

Payload Functionality Trials (PAY): 

• Align with the PERPENDICULAR BUCKETS first and 

capture an image of the inscribed rings that can be used 

to score up to 50 alignment points after the trial. 

• Align with the ANGLED BUCKETS second to identify as 

many acuity target gaps as possible to score up to 50 

acuity points. Call out the gap directions to the Proctor.

OBSTRUCTED | PERCH

MAN

SCORE

(OF 50)

PAY

SCORE

(OF 50)

SCORED ONLY WHILE LANDED

10 Positions = 20 Buckets = 100 Total Points

LAUNCH FORWARD REVERSE FORWARD LAND

LAUNCH 1 2 3 4 3 2 1 2 3 4 LAND

ALIGNMENT ACUITY

CIRCLE CORRECT GAPS 

(1 POINT EACH)

IMAGE POINTS

(5 OR 1 POINT)

/50 /50

CONFINED | WALL

2.4 M (8 FT)

2.4 M (8 FT)

Page 13

WALL TEST

The drone flies within 2-3 m (6-10 ft) of the wall at 45 degrees from forward of the aircraft to 

align with buckets and identify features upward and downward. This approximates inspection 

tasks inside elevated windows and doors.

1

3 4

2

3 2 4

1

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1

1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

10 POSITIONS (20 BUCKETS) LAUNCH – 1 2 3 4 – 3 2 1 – 2 3 4 – LAND

START TIMER

ELASPED TIME:

(MM:SS)