Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

Website

RobotTestMethods.nist.gov

Test Director

Adam Jacoff

Intelligent Systems Division

National Institute of Standards and Technology

U.S. Department of Commerce

Sponsor

Science and Technology Directorate 

U.S. Department of Homeland Security

Email

RobotTestMethods@nist.gov

Version 2023C

Tests and Scorable Scenarios for 

Evaluating Drone Capabilities and 

Remote Pilot Proficiency

in

Open, Obstructed, and Confined 

Environments (Levels 1-5)
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

INTRODUCTION

Users of aerial drones weighing less than 25 kg (55 lbs) at takeoff, also known as small unmanned 

aircraft systems (sUAS) or remotely piloted aircraft systems (RPAS), need ways to measure 

whether a particular drone can perform specific missions in unstructured, complex, and often 

hazardous environments. These missions require various combinations of elemental capabilities. 

Each capability can be represented as a test method with an associated apparatus and procedure 

enabling repeatable and reproducible measures of performance with objective results. 

These test methods can be conducted individually or in operationally relevant sequences and 

combinations to evaluate drone capabilities and remote pilot proficiency. The results measure the 

reliability of the drone and remote pilot to perform the essential mission tasks. A series of 

complementary test lanes enable users to evaluate a wide spectrum of intended missions.

The Open Test Lane uses designated altitudes, positions, and orientations in 5 different flight paths 

to evaluate Basic Maneuvering and Payload Functionality. All flights are conducted in open 

environments with no obstacles.

The National Institute of Standards and Technology developed these tests, with sponsorship from 

the U.S. Department of Homeland Security Science and Technology Directorate, to facilitate 

objective comparisons across different testing locations using drones of various sizes and 

capabilities within the designated weight class. These tests are being standardized through the 

ASTM International Standards Committee on Homeland Security Applications (E54.09)

These test are inexpensive, easy to fabricate, and simple to use so they can be replicated widely 

by organizations or individuals to measure their own drones and pilots. Resulting trial scores are 

comparable no matter where or when the testing occurs.

Open Test Lanes and Scorable Identification Scenarios ALTITUDE

SPACING

Page 4 11/9/21

• Suspicious vehicle takedown

• Bus hostage situation

• Collapsed structure search

• Subway terrorist attack

• Flooded house rescue with delivery of personal floatation devices

• Flash flood bridge collapse with school bus and vehicle rescue

OPEN TEST LANES

The Open Test Lanes evaluates 5 different flight paths to identify objects from safe altitudes in open 

environments. These tests are scalable for all sizes of aircraft to demonstrate positive control at all times 

with accurate perches. They can be performed outdoors or indoors to control lighting and weather. The 

smallest size lane fits on an indoor basketball or tennis court for small drones and/or novice pilots to 

practice safely without flying in the national airspace.

Figure 4) The standard tests use well defined altitudes, positions, orientations, and perches to evaluate both 

Maneuvering and/or Payload Functionality.

Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

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

48

Scalable Test Lanes for Various Sizes of Aircraft

Project Overview

 

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 for 

. 

n 

 can 

into 

own 

 to 

d 

data 

5) and Payload Functionality (PAY 1-5)

apabilities | Proficiency

INSIDE EACH BUCKET

EVALUATE SENSORS

SMALL SYSTEMS LARGE SYSTEMS

INTERFACES PROCEDURES

SENSORS MANEUVERING

MEASURE & COMPARE

1A

SCALABLE TEST LANES (ALTITUDE = SPACING) ALTITUDE

SPACING

OMNI BUCKETS

Page 4 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

• Wide area search of a plane crash site

• Vehicle identifications

• Hazardous tanker truck accident and fire

• Suspicious vehicle takedown

• Bus hostage situation

• Collapsed structure search

• Subway terrorist attack

• Flooded house rescue with delivery of personal floatation devices

• Flash flood bridge collapse with school bus and vehicle rescue

OPEN TEST LANES

The Open Test Lanes evaluates 5 different flight paths to identify objects from safe altitudes in open 

environments. These tests are scalable for all sizes of aircraft to demonstrate positive control at all times 

with accurate perches. They can be performed outdoors or indoors to control lighting and weather. The 

smallest size lane fits on an indoor basketball or tennis court for small drones and/or novice pilots to 

practice safely without flying in the national airspace.

Figure 4) The standard tests use well defined altitudes, positions, orientations, and perches to evaluate both 

Maneuvering and/or Payload Functionality.

Standard Test Methods for Response Robots ASTM International Standards Committee on Homeland Security Applications; 

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

Scalable Test Lanes for Various Sizes of Aircraft

Project Overview

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

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

3

Introduction

Remotely operated aerial systems enable emergency 

responders to perform extremely hazardous tasks from 

safer stand-off distances. The U.S. National Institute of 

Standards and Technology is leading an international effort 

to develop standard test methods to help manufacturers, 

procurement professionals, and users objectively evaluate 

system capabilities and remote pilot proficiency to align 

with mission requirements. Thisimproves the safety and 

effectiveness of emergency responders as they save lives 

and protect property in our communities

The first step toward credentialing remote pilots is to get 

everybody onto the same measuring stick. That’s where 

standard test methods can play a key role. These test 

methods for Basic Maneuvering (MAN 1-5) and Payload 

Functionality (PAY 1-5) are being replicated across the 

country and internationally to focus training with 

quantitative measures of remote pilot proficiency. They are 

low cost and easy to replicate so everyone can measure 

their own progress over time and compare their proficiency 

to regional or national averages on similar 

systems. Concurrent test lanes can be set up to enable 

multiple systems and pilots to train or evaluate 

simultaneously. 

They are being standardized through the ASTM 

International Standards Committee on Homeland Security 

Applications; Response Robots (ASTM E54.09). They are also 

referenced as Job Performance Requirements in 

the National Fire Protection Association Standard for Small 

Unmanned Aircraft Systems Used For Public Safety 

Operations (NFPA 2400) and the ASTM Standard Guide for 

Training for Remote Pilot in Command of Unmanned 

Aircraft Systems Endorsement (ASTM F38.03 F3266-18). 

These suites of standard test methods provide common 

measures of capabilities with quantitative results. They can 

be conducted individually, in sequences, or embedded into 

operational training scenarios as repeatable and 

reproducible tasks with scores to augment qualitative 

assessments. Organizations using these tests set their own 

thresholds of acceptable system and pilot performance to 

align with their airspace, environment, and mission 

complexities. But those decisions are easier to make and 

trust when they’re based on quantitative performance data 

captured within standard test methods.

Basic Maneuvering (MAN 1-5) and Payload Functionality (PAY 1-5)

Safety | Capabilities | Proficiency

INSIDE EACH BUCKET

EVALUATE SENSORS

SMALL SYSTEMS LARGE SYSTEMS

INTERFACES PROCEDURES

SENSORS MANEUVERING

MEASURE & COMPARE

1A

SCALABLE TEST LANES (ALTITUDE = SPACING) ALTITUDE

SPACING

OMNI BUCKETS

PROCEDURES

SENSORS MANEUVERING

INTERFACES

SMALL DRONES

MEASURE & COMPARE SCALABLE (ALTITUDE = SPACING)

Page 4 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

• Wide area search of a plane crash site

• Vehicle identifications

• Hazardous tanker truck accident and fire

• Suspicious vehicle takedown

• Bus hostage situation

• Collapsed structure search

• Subway terrorist attack

• Flooded house rescue with delivery of personal floatation devices

• Flash flood bridge collapse with school bus and vehicle rescue

OPEN TEST LANES

The Open Test Lanes evaluates 5 different flight paths to identify objects from safe altitudes in open 

environments. These tests are scalable for all sizes of aircraft to demonstrate positive control at all times 

with accurate perches. They can be performed outdoors or indoors to control lighting and weather. The 

smallest size lane fits on an indoor basketball or tennis court for small drones and/or novice pilots to 

practice safely without flying in the national airspace.

Figure 4) The standard tests use well defined altitudes, positions, orientations, and perches to evaluate both 

Maneuvering and/or Payload Functionality.

Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

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

48

Scalable Test Lanes for Various Sizes of Aircraft

Project Overview

ds for Small Unmanned Aircraft Systems

ards Committee on Homeland Security Applications; 

4.09) | Website: RobotTestMethods.nist.gov

3

m 

f 

effort 

rers, 

uate 

gn 

and 

ves 

 get 

ere 

 

ad 

e 

ey are 

re 

ciency 

e 

urity 

re also 

Small 

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8). 

on 

ey can 

d into 

 

 own 

ce to 

and 

e data 

-5) and Payload Functionality (PAY 1-5)

Capabilities | Proficiency

INSIDE EACH BUCKET

EVALUATE SENSORS

SMALL SYSTEMS LARGE SYSTEMS

INTERFACES PROCEDURES

SENSORS MANEUVERING

MEASURE & COMPARE

1A

SCALABLE TEST LANES (ALTITUDE = SPACING) ALTITUDE

SPACING

OMNI BUCKETS

LARGE DRONES

5 FLIGHT PATHS

OPEN TEST LANE AND RELATED OPERATIONAL SCENARIOS

1

2

3

FLIGHT LINE

4

z

z

ALTITUDE S FLY STRAIGHT AND LEVEL OVER THE LANE CENTERLINE

START | END

ALIGN

NON-STOP

NON-STOP NON-STOP

NON-STOP

NON-STOP

NON-STOP

z

S

S S S S

5(S)

S

ALIGN CW

CCW

RECON

MAN/PAY 5

FLIGHT LINE

4

z

START | END 3

2

1

5(S)

S

S S S S

ALTITUDE 1⁄2( S) 2

3 4

5

1 2

5 4

3

CW

CCW

1

CCW

1 2

5 4

3

2

3 4

5

CW INSPECT

1

MAN/PAY 4

1

2

3

FLIGHT LINE

4

ALTITUDE S

START | END

5(S)

S

S S S S

1A

1B

2B

3B 3C

3D

2D

1D

TRAVERSE

MAN/PAY 2

FLIGHT LINE

4

z

z

z

ALTITUDE S

START | END 3

2

1

5(S)

ALTITUDE 2(S)

S

S S S S

POSITION

MAN/PAY 1

1

2

3

FLIGHT LINE

4 ALTITUDE 2(S)

START | END

S

S S S S

5(S

)

ALTITUDE S

#2 & 3A

3B 3C

3D

#1 & 3A

3B

3C

3D

ORBIT

MAN/PAY 3

POSITION TEST POSITION

TRAVERSE

ORBIT

INSPECT

RECON

Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

POSITION

MAN/PAY 1

TRAVERSE

MAN/PAY 2

ORBIT

MAN/PAY 3

INSPECT

MAN/PAY 4

RECON

MAN/PAY 5

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

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)

Same Lane Supports Other Flight Paths

Open Test Lane

• 7(S) altitude

• 6(S) altitude 

• 5(S) altitude 

• 2(S) altitude 

• S altitude 

5 Different Orbits in Every Lane Spacing

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

12

1

2

3

4

z

z

FREE FLIGHT

z z

z

CW

CCW

CW

CCW

LAND

S

S S S S

FLIGHT LINE

1

2

3

FLIGHT LINE

4

START | END

S

S S S S

5(S)

ALTITUDE S

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

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

18

1

2

3

FLIGHT LINE

4

ALTITUDE S

START | END

5(S)

S

S S S S

Traverse 

(MAN 2 | PAY 2)

1

2

3

FLIGHT LINE

4

z

z

ALTITUDE X FLY STRAIGHT AND LEVEL OVER THE LANE CENTERLINE

START | END

ALIGN

NON-STOP

NON-STOP NON-STOP

NON-STOP

NON-STOP

NON-STOP

z

S

S S S S

5(S)

S

ALIGN CW

CCW

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

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

14

Position 

(MAN 1 | PAY 1)

FLIGHT LINE

4

z

z

z

ALTITUDE S

START | END 3

2

1

5(S)

ALTITUDE 2(S)

S

S S S S

1

2

3

4

z

z

FREE FLIGHT

z z

z

CW

CCW

CW

CCW

LAND

S

S S S S

FLIGHT LINE

Recon

Spiral 

Orbit 

Traverse

Position

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

1

2

3

FLIGHT LINE

4

z

z

ALTITUDE S FLY STRAIGHT AND LEVEL OVER THE LANE CENTERLINE

START | END

ALIGN

NON-STOP

NON-STOP NON-STOP

NON-STOP

NON-STOP

NON-STOP

z

S

S S S S

5(S)

S

ALIGN CW

CCW

RECON

MAN/PAY 5

FLIGHT LINE

4

z

START | END 3

2

1

5(S)

S

S S S S

ALTITUDE 1⁄2( S) 2

3 4

5

1 2

5 4

3

CW

CCW

1

CCW

1 2

5 4

3

2

3 4

5

CW INSPECT

1

MAN/PAY 4

1

2

3

FLIGHT LINE

4

ALTITUDE S

START | END

5(S)

S

S S S S

1A

1B

2B

3B 3C

3D

2D

1D

TRAVERSE

MAN/PAY 2

FLIGHT LINE

4

z

z

z

ALTITUDE S

START | END 3

2

1

5(S)

ALTITUDE 2(S)

S

S S S S

POSITION

MAN/PAY 1

1

2

3

FLIGHT LINE

4 ALTITUDE 2(S)

START | END

S

S S S S

5(S

)

ALTITUDE S

#2 & 3A

3B 3C

3D

#1 & 3A

3B

3C

3D

ORBIT

MAN/PAY 3

ALTITUDE 2(S)

ALTITUDE S

ALTITUDE S

ALTITUDE 2(S)

ALTITUDE (S)

ALTITUDE 1⁄2(S)

ALTITUDE S

1

2

3

FLIGHT LINE

4 ALTITUDE 2(S)

START | END

S

S S S S

5(S)

ALTITUDE S #1 & 2A

2B 2C

2D

#1 & 3A

3B

3C

3D ALTITUDE 2(S)

ALTITUDE S

POSITION

TRAVERSE

ORBIT

INSPECT

RECON
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

These tests support drone researchers, manufacturers, and other organizations in different ways. 

Researchers use these tests to understand mission requirements, encourage innovation, and 

demonstrate break-through capabilities. Manufacturers use these tests to evaluate design 

decisions, integrate emerging technologies, and harden systems. Various other organizations use 

these tests to guide purchasing, make deployment decisions, and measure remote pilot 

proficiency for credentialing. Examples include emergency response operations, critical 

infrastructure inspection, industrial and commercial applications, and even recreational pilots.

These tests can be used to objectively evaluate aerial drones with an onboard camera and remote 

pilot display that can be flown under 120 m (400 ft) altitude in open environments to identify 

objects on or near the ground. A remote pilot is in control of all drone functionality, although 

assistive features and autonomous behaviors may be used to improve effectiveness or efficiency.

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Scalable for Indoor/Outdoor Use

Open Test Lane

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Scalable for Indoor/Outdoor Venues

Open Test Lane

MEASURING TAPE CENTERLINE 

UP TO 90 M (300 FT)

1

2

3

FLIGHT LINE

4

5(S)

S

S

S

z S

ALTITUDE S

ALTITUDE 2(S)

ALTITUDE 5(S)

LAUNCH/LAND 

PLATFORM

OMNI BUCKET STANDS

(A-B-C-D)

SPACING = S ALTITUDES = S, 2(S), 5(S) LENGTH = 10(S) 

S = 3 m (10 ft) 3, 6, 15 m (10, 20, 50 ft) 30 m (100 ft) 

S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft) 

S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)

Spacing (S) = Altitude

DATE/TIME

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

SURING TAPE

(4) OMNI STANDS

RGET

MENT

IGITAL CLOCK CAPTURES

ATE | TIME (SYNCED)

(4) OMNI BUCKET STANDS

DIUS

CURACY

ENTERLINE 

MEASURING TAPE

MEASURING TAPE CENTERLINE 

UP TO 90 M (300 FT)

1

2

3

FLIGHT LINE

4

5(S)

S

S

S

z S

ALTITUDE S

ALTITUDE 2(S)

S

ALTITUDE 5(S)

LAUNCH/LAND 

PLATFORM

OMNI BUCKET STANDS(A-B-C-D)

Test Methods for Small Unmanned Aircraft Systems

rnational Standards Committee on Homeland Security Applications; 

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

for Indoor/Outdoor Venues

Open Test Lane

MEASURING TAPE CENTERLINE 

UP TO 90 M (300 FT)

1

2

3

FLIGHT LINE

4

5(S)

S

S

S

z S

ALTITUDE S

ALTITUDE 2(S)

S

ALTITUDE 5(S)

LAUNCH/LAND 

PLATFORM

OMNI BUCKET STANDS

(A-B-C-D)

SPACING = S ALTITUDES = S, 2(S), 5(S) LENGTH = 10(S) 

S = 3 m (10 ft) 3, 6, 15 m (10, 20, 50 ft) 30 m (100 ft) 

S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft) 

S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)

Spacing (S) = Altitude

H

RGET

RES

ANDS

Spacing (S) = Altitude

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

calable Lanes for Indoors and Outdoors

Open Test Lane

MEASURING TAPE CENTERLINE 

UP TO 90 M (300 FT)

1

2

3

FLIGHT LINE

4

5(S)

S

S

S

z S

ALTITUDE S

ALTITUDE 2(S)

S

ALTITUDE 5(S)

LAUNCH/LAND 

PLATFORM

OMNI BUCKET STANDS

(A-B-C-D)

SPACING = S ALTITUDES = S, 2(S), 5(S) LENGTH = 10(S) 

S = 3 m (10 ft) 3, 6, 15 m (10, 20, 50 ft) 30 m (100 ft) 

S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft) 

S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)

Altitudes = Ground Distance Betw

TIME

RE LANDING WITH

NTER RADIUS TARGET

APE

I STANDS

LOCK CAPTURES

ME (SYNCED)

 BUCKET STANDS

NE 

NG TAPE

A

A

MAXIMUM 

ALTITUDE 2S

ALTITUDE S

BROK

BROK

ALIGNE

Page 2

Figure 1) The Open Test Lane and related scenarios use designated altitudes, positions, and 

orientations to perform Basic Maneuvering trials or Payload Functionality trials using 5 different flight 

paths.

ALTITUDE

SPACING

Page 4 11/9/21

Figure 4) The standard tests use well defined altitudes, positions, orientations, and perches to evaluate both 

Maneuvering and/or Payload Functionality.

rity 

e also 

mall 

 for 

). 

n 

y can 

 into 

own 

e to 

nd 

 data 

EVALUATE SENSORS

SMALL SYSTEMS LARGE SYSTEMS

INTERFACES PROCEDURES

SENSORS MANEUVERING

1A

ALTITUDE

SPACING

OMNI BUCKETS

Page 4 

environments. These tests are scalable for all sizes of aircraft to demonstrate p

with accurate perches. They can be performed outdoors or indoors to control 

smallest size lane fits on an indoor basketball or tennis court for small drones a

practice safely without flying in the national airspace.

Figure 4) The standard tests use well defined altitudes, positions, orientations, 

Maneuvering and/or Payload Functionality.

ASTM International Standards Committee on Homeland Security Application

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

Scalable Test Lanes for Various Sizes 

Project Overview

qpy 

effectiveness of emergency responders as they save lives 

and protect property in our communities

The first step toward credentialing remote pilots is to get 

everybody onto the same measuring stick. That’s where 

standard test methods can play a key role. These test 

methods for Basic Maneuvering (MAN 1-5) and Payload 

Functionality (PAY 1-5) are being replicated across the 

country and internationally to focus training with 

quantitative measures of remote pilot proficiency. They are 

low cost and easy to replicate so everyone can measure 

their own progress over time and compare their proficiency 

to regional or national averages on similar 

systems. Concurrent test lanes can be set up to enable 

multiple systems and pilots to train or evaluate 

simultaneously. 

They are being standardized through the ASTM 

International Standards Committee on Homeland Security 

Applications; Response Robots (ASTM E54.09). They are also 

referenced as Job Performance Requirements in 

the National Fire Protection Association Standard for Small 

Unmanned Aircraft Systems Used For Public Safety 

Operations (NFPA 2400) and the ASTM Standard Guide for 

Training for Remote Pilot in Command of Unmanned 

Aircraft Systems Endorsement (ASTM F38.03 F3266-18). 

These suites of standard test methods provide common 

measures of capabilities with quantitative results. They can 

be conducted individually, in sequences, or embedded into 

operational training scenarios as repeatable and 

reproducible tasks with scores to augment qualitative 

assessments. Organizations using these tests set their own 

thresholds of acceptable system and pilot performance to 

align with their airspace, environment, and mission 

complexities. But those decisions are easier to make and 

trust when they’re based on quantitative performance data 

captured within standard test methods.

INSIDE EACH BUCKET

EVALUATE SENSORS

SMALL SYSTEMS LARGE SYSTEMS

INTERFACES PROCEDURES

SENSORS MANEUVERING

MEASURE & COMPARE

1A

SCALABLE TEST LANES (

SP

OMNI BUCKETS

PROCEDURES

SENSORS MANEUVERING

INTERFACES

SMALL DRONES

Page 4 11/9/21

Figure 4) The standard tests use well defined altitudes, positions, orientations, and perches to evaluate both 

Maneuvering and/or Payload Functionality.

ciency 

e 

urity 

are also 

Small 

e for 

8). 

on 

ey can 

d into 

e 

r own 

ce to 

and 

e data 

EVALUATE SENSORS

SMALL SYSTEMS LARGE SYSTEMS

INTERFACES PROCEDURES

SENSORS MANEUVERING

1A

ALTITUDE

SPACING

OMNI BUCKETS

LARGE DRONES

The Open Test Lanes and related scenarios are scalable to 

be used at various altitudes both indoors on a basketball 

court and outdoors on a football field or parking lot. 

2 

OMNI STAND SPACING = S MAX TEST ALTITUDE = 2(S) LANE LENGTH = 10(S)

3 m (10 ft) 6 m (20 ft) 30 m (100 ft)

6 m (20 ft) 12 m (40 ft) 60 m (200 ft)

9 m (30 ft) 18 m (60 ft) 90 m (300 ft)

S

S

S

S

S

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

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)

Same Lane Supports Other Flight Paths

Open Test Lane

• 7(S) altitude

• 6(S) altitude 

• 5(S) altitude 

• 2(S) altitude 

• S altitude 

5 Different Orbits in Every Lane Spacing

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

z

FREE FLIGHT

S 

FLIGHT LINE

FLIGHT LINE

S 

FLIGHT LINE

ALTIT

FLIGHT LINE

z

z

ALTITUDE X 

S 

S

FLIGHT LINE

ALTITUDE 

S 

z

FREE FLIGH

S 

FLIGHT LINE

Recon

Spiral 

Orbit 

Traverse

Position

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

FLIGHT LINE

z

z

ALTITUDE S 

STAR

S 

S

CW

RECON

MAN/PAY 5

FLIGHT LINE

STAR

S 

ALTITUDE 1⁄2( 

INSPECT

MAN/PAY 4

FLIGHT LINE

ALTITUDE S

STAR

S 

1

TRAVERSE

MAN/PAY 2

FLIGHT LINE

z

ALTITUDE S

STAR

ALTIT

S 

POSITION

MAN/PAY 1

FLIGHT LINE

ALT

STAR

S 

ORBIT

MAN/PAY 3

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

calable for Indoor/Outdoor Use

Open Test Lane

tandard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

ble for Indoor/Outdoor Venues

Open Test Lane

MEASURING TAPE CENTERLINE 

UP TO 90 M (300 FT)

1

2

3

FLIGHT LINE

4

5(S)

S

S

S

z S

ALTITUDE S

ALTITUDE 2(S)

S

ALTITUDE 5(S)

LAUNCH/LAND 

PLATFORM

OMNI BUCKET STANDS

(A-B-C-D)

SPACING = S ALTITUDES = S, 2(S), 5(S) LENGTH = 10(S) 

S = 3 m (10 ft) 3, 6, 15 m (10, 20, 50 ft) 30 m (100 ft) 

S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft) 

S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)

Spacing (S) = Altitude

ME

ANDING WITH

 RADIUS TARGET

E

TANDS

CK CAPTURES

(SYNCED)

UCKET STANDS

TAPE

MEASURING TAPE CENTERLINE 

UP TO 90 M (300 FT)

1

2

3

FLIGHT LINE

4

5(S)

S

S

S

z S

ALTITUDE S

ALTITUDE 2(S)

S

ALTITUDE 5(S)

LAUNCH/LAND 

PLATFORM

OMNI BUCKET STANDS(A-B-C-D)

ods for Small Unmanned Aircraft Systems

dards Committee on Homeland Security Applications; 

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

11

ndoor/Outdoor Venues

pen Test Lane

MEASURING TAPE CENTERLINE 

UP TO 90 M (300 FT)

1

2

3

FLIGHT LINE

4

5(S)

S

S

S

z S

ALTITUDE S

ALTITUDE 2(S)

S

ALTITUDE 5(S)

LAUNCH/LAND 

PLATFORM

OMNI BUCKET STANDS

(A-B-C-D)

SPACING = S ALTITUDES = S, 2(S), 5(S) LENGTH = 10(S) 

S = 3 m (10 ft) 3, 6, 15 m (10, 20, 50 ft) 30 m (100 ft) 

S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft) 

S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)

Spacing (S) = Altitude

Spacing (S) = Altitude

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

ble Lanes for Indoors and Outdoors

Open Test Lane

MEASURING TAPE CENTERLINE 

UP TO 90 M (300 FT)

1

2

3

FLIGHT LINE

4

5(S)

S

S

S

z S

ALTITUDE S

ALTITUDE 2(S)

S

ALTITUDE 5(S)

LAUNCH/LAND 

PLATFORM

OMNI BUCKET STANDS

(A-B-C-D)

SPACING = S ALTITUDES = S, 2(S), 5(S) LENGTH = 10(S) 

S = 3 m (10 ft) 3, 6, 15 m (10, 20, 50 ft) 30 m (100 ft) 

S = 6 m (20 ft) 6, 12, 30 m (20, 40, 100 ft) 60 m (200 ft) 

S = 9 m (30 ft) 9, 18, 45 m (30, 60, 150 ft) 90 m (300 ft)

Altitudes = Ground Distance Between St

H

RGET

RES

ANDS

NOT ALIG

1A

1A

1A

ALIGNED B

ALIGNED 

ALIGNED (5 

ALIGNED (5 

PARTIAL (1 

MAXIMUM 

ALTITUDE 2S

ALTITUDE S

BROKEN

BROKEN

ALIGNED

5(S)

MAXIMUM TEST 

ALTITUDE 2(S)

HIGHER ALTITUDE 

HOVERS AND ORBITS

IN EVERY LANE

MEASURING TAPE CENTERLINE

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)

Open Test Lane

• 7(S) alt

• 6(S) alt

• 5(S) alt

• 2(S) alt

• S altitu

5 Different Orbits in Every Lane Spac

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

The Open Test Lanes are scalable to be used at various altitudes both indoors on a basketball court 

and outdoors on a football field or parking lot. 

Test trials result in objective measures of drone capabilities and remote pilot proficiency that can be 

compared and tracked over time. Organizations using these test methods set their own level of 

acceptable performance to align with their air space, environment, and mission complexities. 

Organizations can also adopt pass/fail performance thresholds set by others within their user 

community. 
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

Page 8

Figure 11) The Open Test Lane has related operational scenarios including wide area search, urban ar

search, and vehicle identifications either alone or as part of larger scenarios.

The Open Test Lane evaluates flight paths to identify objects from safe altitudes in open 

environments. Related scenarios include wide area searches such as a simulated plane crash sit

that uses all the same omni bucket stands from the lane embedded in the scenario near object

of interest. Every scenario has 20 targets overall, each with 5 increasingly small features to 

identify, for a total of up to 100 points available for a complete trial. This enables comparison o

scores for pilots and aircraft that can reliably perform the various bucket alignments and ident

the smallest visual/thermal acuity features across all available acuity targets. The trial time lim

is typically set to 15-20 minutes for scenarios to remain within one battery charge and to 

maintain a schedule throughout the day for multiple pilots. Time limited trials also enable dire

comparisons of scores for completeness and efficiency. Only scores using similar aircraft and 

trial times are directly comparable to evaluate pilot proficiency, but a variety of different aircra

can be used to compare overall scores and ease of use across larger populations of responders

Open Area Search Scenario

Figure 12) LEFT: This simulated plane crash scenario across several acres is an example of a wide ar

VEHICLE INSPECTION DHS Responder Familiarization Exercise

ROOTOP 

FLUSH

OBSTACLE / SUNNY

RECESSED

OPEN / SUNNY

OPEN / SHADY

CONFINED

WIDE AREA SEARCH BUILDING EXTERIOR SEARCH

20 OMNI TARGETS = 100 PTS 20 EXTERIOR/INTEROR = 100 PTS 20 DOWNWARD 20 FORWARD

VEHICLE INSPECTION DHS Responder Familiarization Exercise

ROOTOP 

FLUSH

OBSTACLE / SUNNY

RECESSED

OPEN / SUNNY

OPEN / SHADY

CONFINED

BUILDING EXTERIOR SEARCH

20 EXTERIOR/INTEROR = 100 PTS 20 DOWNWARD 20 FORWARD

21

Page 7 

 

Figure 9) LEFT: An Open Test Lane with 3 m (10 ft) spacing and alternating white and 

stands for the Payload Functionality variant of the tests. RIGHT: Multiple test lanes s

a single Proctor helping teams of pilots and their visual observers learn to fly the pat

correctly. RIGHT: A 6 m (20 ft) lane spacing set up to be more relevant for some scen

Open Scenario: Wide Area Search

Quad Screen Trial Video Example - Wide Area Search

The Open Test Lane evaluates flight paths to identify objects from safe altitudes in o

Related scenarios include wide area searches such as this simulated plane crash site 

omni bucket stands from the Open Test Lane. There are 20 targets overall, each with 

features to identify for a total of up to 100 points available for a complete trial. This 

scores for pilots and aircraft that can reliably perform the various bucket alignments 

visual/thermal acuity features across all available acuity targets. The trial time limit 

minutes to remain within one battery charge and to maintain a schedule throughou

pilots. Time limited trials also enable direct comparisons of scores for completeness 

scores using similar aircraft and trial times are directly comparable to evaluate pilot 

of different aircraft can be used to compare overall scores and ease of use.

 

Figure 10) LEFT: The wide area search was this simulated plane crash site across sev

was also a separate vehicle identification scenario on a dirt road near trees.

WHITE BUCKET ALIGNMENTS

BLACK BUCKET ALIGNMENTS

Standard Test Methods for Small Unmann

ASTM International Standards Committee for Homeland 

Response Robots (E54.09) Website: RobotTestM

Figure 11) The Open Test Lane has related operational scenarios 

search, and vehicle identifications either alone or as part of larg

The Open Test Lane evaluates flight paths to identify objects 

environments. Related scenarios include wide area searches 

that uses all the same omni bucket stands from the lane emb

of interest. Every scenario has 20 targets overall, each with 5 

identify, for a total of up to 100 points available for a comple

scores for pilots and aircraft that can reliably perform the va

the smallest visual/thermal acuity features across all availab

is typically set to 15-20 minutes for scenarios to remain with

maintain a schedule throughout the day for multiple pilots. 

comparisons of scores for completeness and efficiency. Only 

trial times are directly comparable to evaluate pilot proficien

can be used to compare overall scores and ease of use acros

Open Area Search Scenario

WIDE AREA SEARCH URBAN AREA SEARCH 

VEHICLE INSPECTION WIDE AREA SEARCH 

REMOTE PILOT TRAINING – CANADIAN POLICE COLLE

20 OMNI TARGETS = 100 PTS 20 EXTERIOR/INTEROR = 100 PTS 

VEHICLE INSPECTION DHS Responder Familiarization Exercise

ROOTOP 

FLUSH

OBSTACLE / SUNNY

RECESSED

OPEN / SUNNY

OPEN / SHADY

CONFINED

BUILDING EXTERIOR SEARCH

RAINING – CANADIAN POLICE COLLEGE, ONTARIO, CANADA

20 EXTERIOR/INTEROR = 100 PTS 20 DOWNWARD 20 FORWARD

 

Figure 9) LEFT: An Open Test Lane with 3 m (10 ft) spa

stands for the Payload Functionality variant of the tes

a single Proctor helping teams of pilots and their visu

correctly. RIGHT: A 6 m (20 ft) lane spacing set up to b

Open Scenario: Wide Area Search

Quad Screen Trial Video Example - Wide Area Search

The Open Test Lane evaluates flight paths to identify 

Related scenarios include wide area searches such as 

omni bucket stands from the Open Test Lane. There a

features to identify for a total of up to 100 points ava

scores for pilots and aircraft that can reliably perform 

visual/thermal acuity features across all available acu

minutes to remain within one battery charge and to m

pilots. Time limited trials also enable direct comparis

scores using similar aircraft and trial times are directly 

of different aircraft can be used to compare overall sc

OTHER OBJECT

< 10 FT ALTITUDE AND RADIUS

10 FT

7 of 11

andard Test Methods for Small Unmanned Aircraft Systems 

STM International Standards Committee on Homeland Security Applications; 

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

ncing and Wear Face Coverings

to wear face coverings when working alone outdoors, except when others are 

y face coverings and wear these when others approach. Minimum physical distances 

ed at all times.

 Disinfect Surfaces

ands at the outdoor hand-washing station set up for the event. They should also 

surfaces before initial use and after.

her Gatherings

cted each morning in the outdoor pavilion with physical distancing and mask wearing. 

he site should include physical distancing and masks. 

 

avilion will be set up for physical distancing. RIGHT) It can contain at least 14 people 

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

istributed across the site will have an EZ Up tent which is 3 m (10 ft) square to provide 

e will be no more than four people at any single EZ Up.

pically includes a Pilot, Proctor, and Videographer. All will remain at least 2 m (6 ft) 

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

C

D

INSPECT 

< 50 FT

ALTITUDE AND RADIUS

WATCH 

0 FT

ND RADIUS C

D

NTER

OVERWATCH

INSPECT

OBJECT

ROTATION

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Related Scenarios with the Same Scoring Tasks

Open Scenarios

E AREA SEARCH URBAN AREA SEARCH VEHICLE IDENTIFICATION

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Standard Test Lanes Lead To Related Scenarios

Safety | Capabilities | Proficiency

VEHICLE INSPECTION DHS Responder Familiarization Exercise

ROOTOP 

FLUSH

OBSTACLE / SUNNY

RECESSED

OPEN / SUNNY

OPEN / SHADY

CONFINED

E AREA SEARCH BUILDING EXTERIOR SEARCH

REMOTE PILOT TRAINING – CANADIAN POLICE COLLEGE, ONTARIO, CANADA

NI TARGETS = 100 PTS 20 EXTERIOR/INTEROR = 100 PTS 20 DOWNWARD 20 FORWARD

 Small Unmanned Aircraft Systems

mmittee on Homeland Security Applications; 

 Website: RobotTestMethods.nist.gov

ead To Related Scenarios

ilities | Proficiency

E INSPECTION DHS Responder Familiarization Exercise

ROOTOP 

FLUSH

OBSTACLE / SUNNY

RECESSED

OPEN / SUNNY

OPEN / SHADY

CONFINED

BUILDING EXTERIOR SEARCH

ADIAN POLICE COLLEGE, ONTARIO, CANADA

/INTEROR = 100 PTS 20 DOWNWARD 20 FORWARD

21

All scenarios have 20 targets for up to 100 pts each

Standard Test 

ASTM Internat

Respon

Fi16) A l tk i

V

2

A

E

L

N

C

CONCURRENT OBJECTIVES

FOR 3 TEAMS TO FLY

LEVEL 1-3 | OPEN LANES AND SCORABLE SCENARIOS

WHITE BUCKETS STANDS

ILLUMINATED WITH 

RED HEADLAMPS

ALTERNATING BLACK BUCKET

STANDS LEFT DARK

DAY OR NIGHT OPERATIONS
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

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 32) A floating omni bucket task was pulled through the water by a remotely contr

to represent floating or swimming victims. It provided a moving object for the drone to i

 

Figure 33) The flashflood bridge collapse included an overturned school bus and vehicles 

comprehensive search for survivors.

Obstructed Scenario: Night Operations House Surveillance and Search

This scenario was actually conducted the week prior at a different event, but nicely augm

scenarios above. This house surveillance at night used two sets of horizontal and vertica

apparatuses on all four sides of the house, guiding the remote drone pilot to safe locatio

of very difficult obstacles such as the overhanging roof, trees, shrubs, power lines, shrub

vertical test apparatuses with 10 positions and orientations were attached to all sides of 

100 points. A set of and 5 horizontal test apparatuses with 10 positions and orientations 

on or near objects of interest around the house for another 100 points. 

Page 19 

 

Figure 26) Obstructed apparatuses are set up in sets of vertical and horizontal tasks throu

scenario.

Figure 27) The scenario façade was embedded with window inspection tasks on two sides 

collapsed walls. Each Dual Bucket Alignment guides the remote pilot to positions and orie

high/low and left/right views inside the windows.

ALIGNED D

THROUGH 

VERTICAL

HORIZONTAL

Page 16 11/9/21

 

Figure 19) LEFT: Other interior tasks using the small buckets in confined search spaces. CENTER: Two 

apparatuses require vertical alignments. RIGHT: Three apparatuses require horizontal alignments. This is the 

final perch position to maintain a view of an object of interest.

Obstructed Scenario: Vehicle Takedown 

Quad Screen Trial Video Example - Vehicle Takedown

Figure 20) LEFT: Vehicles of all sizes and conditions can be bucketized similarly for quantitative scoring, 

including panel vans and trucks. RIGHT: Dual bucket alignments guide the drone into position to look inside 

the front windshield from two different angles while using triangulation between the buckets to stay safe.

 

Figure 21) The bucket numbering leads the pilot around an orbit starting in front of the vehicle, then around 

to the driver side, and so on. The large buckets targets are identified in the first orbit to assess the situation 

WHITE BUCKET ALIGNMENTS

BLACK BUCKET ALIGNMENTS

HORIZONTAL VERTICAL

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

12

Obstructed Test Lane and Related Scenarios

Aerial Tests

- 5 -

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

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

resulting trial scores across different locations can help determine best-in-class drone capabilities and remote 

pilots no matter where or when the testing occurs.

Figure 2) Other related standards address different mission complexities such as the Obstructed Test Lane which 

evaluates drones flying in close proximity to outdoor objects to inspect detailed features from 2-3 m (6-10 ft).

These standard tests support drone researchers, manufacturers, and user organizations in different ways. 

Researchers use these standard tests to understand mission requirements, encourage innovation, and demonstrate 

break-through capabilities. Manufacturers use these standard tests to evaluate design decisions, integrate 

emerging technologies, and harden systems. Various organizations use these tests to guide purchasing, make 

deployment decisions, and focus training with measures of remote pilot proficiency for credentialing. These 

standard tests support emergency response operations, critical infrastructure inspection, industrial and 

commercial applications, and even recreational pilot credentialing (see Appendix A for a subset of tests that can 

support recreational pilot credentialing).

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

10

Measuring sUAS Performance: Close Proximity Inspection

Safety | Capabilities | Proficiency

VEHCLE INSPECTION

OBJECT INSPECTION

STRUCTURE INSPECTION STRUCTURE INSPECTION

DUAL BUCKET ALIGNMENTS GUIDE 

PILOTS INTO SAFE POSITIONS 

WITHIN PROXIMITY TO OBJECTS

Obstructed Test Lane and Related Operational Scenarios 

- 5 -

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

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

resulting trial scores across different locations can help determine best-in-class drone capabilities and remote 

pilots no matter where or when the testing occurs.

Figure 2) Other related standards address different mission complexities such as the Obstructed Test Lane which 

evaluates drones flying in close proximity to outdoor objects to inspect detailed features from 2-3 m (6-10 ft).

These standard tests support drone researchers, manufacturers, and user organizations in different ways. 

Researchers use these standard tests to understand mission requirements, encourage innovation, and demonstrate 

break-through capabilities. Manufacturers use these standard tests to evaluate design decisions, integrate 

emerging technologies, and harden systems. Various organizations use these tests to guide purchasing, make 

deployment decisions, and focus training with measures of remote pilot proficiency for credentialing. These 

standard tests support emergency response operations, critical infrastructure inspection, industrial and 

commercial applications, and even recreational pilot credentialing (see Appendix A for a subset of tests that can 

support recreational pilot credentialing).

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

10

Measuring sUAS Performance: Close Proximity Inspection

Safety | Capabilities | Proficiency

VEHCLE INSPECTION

OBJECT INSPECTION

STRUCTURE INSPECTION STRUCTURE INSPECTION

DUAL BUCKET ALIGNMENTS GUIDE 

PILOTS INTO SAFE POSITIONS 

WITHIN PROXIMITY TO OBJECTS

Obstructed Test Lane and Related Operational Scenarios 

POST

1

2

4

3

POST TEST WALL TEST

Obstructed Test Lanes and Scorable Inspection Scenarios

Standard Test Methods for Small Unmanned 

ASTM International Standards Committee on Homeland 

Response Robots (E54.09) | Website: RobotTestM

Structure exterior inspection tasks include looking through windows a

ground objects of interest. In this case, the tasks were embedded aro

structure. The objective was to safely fly in close proximity of about 2 

to perform a window/door clearing maneuver with high/low and left/

 

Figure 26) Obstructed apparatuses are set up in sets of vertical and ho

scenario.

Figure 27) The scenario façade was embedded with window inspectio

collapsed walls. Each Dual Bucket Alignment guides the remote pilot t

high/low and left/right views inside the windows.

VERT

ALIGNMENT TASKS IN 

WINDOW/DOORS

PERCH

Dual Bucket Alignments Guide Remote Pilots to Safe Positions in Proximity to Objects

VEHICLE INSPECTION STRUCTURE 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 Sce

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 (Sout

Safety | Capabilities | Proficiency

OPEN OBSTRUCTED CONFINED

TOP INDOOR ALTITUDE

2 M (6 FT)

SHOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM SEARCH SCENARIO

Confined Test Lanes and Scorable Indoor Scenarios

LEVEL 4 | OBSTRUCTED LANES AND SCORABLE SCENARIOS

LEVEL 5 | CONFINED LANES AND SCORABLE SCENARIOS
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

TOP

(T)

BOTTOM

(B)

BOTTOM LEFT

(BL)

BOTTOM RIGHT

(BR)

TOP LEFT

(TL)

TOP RIGHT

(TR)

LEFT

(L)

RIGHT

(R)

THE BUCKET NUMBER DESIGNATES 

THE “TOP” GAP ORIENTATION

THE CONCENTRIC Cs ARE PROPORTIONAL 

TO THE GAP AND RING THICKNESS

8 DIFFERENT GAP ORIENTATIONS

RELATIVE TO THE BUCKET NUMBER

Page 5 11/9/21

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

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

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

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

to maximize exposure control.

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

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

evaluate operational readiness and system capabilities.

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

D

LAUNCH

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A ALIGNED (5 PTS)

PARTIAL (1 PT)

DUA

ALIG

AT 1 

PROX

O

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

() 

PROXIMITY TO 

OBSTACLES

LENGTH: 15 M (50 FT) LENGTH: 7.5 M (2

ACCURATE (5 PTS)

BLACK BUCKETS & COLOR RINGS 

EMBEDDED INTO SCENARIOS

1

TOP

FRONT 1A

LEFT 1B 1C BACK

1D RIGHT

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 NOT ALIGNED SHOWN ALIGNED

WHITE BUCKETS & GREEN RINGS 

IN STANDARD TEST LANES

Page 5 11/9/21

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

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

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

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

to maximize exposure control.

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

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

evaluate operational readiness and system capabilities.

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

D

LAUNCH

PERCH 

ACUITY

P1

P1

LEAVE CARRY HANDLE ON TOP BUCKET

1A

1A 1A ALIGNED (5 PTS)

PARTIAL (1 PT)

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

AT 2 M (6 FT) 

PROXIMITY TO 

OBSTACLES

LENGTH: 15 M (50 FT) LENGT

ACCURATE (5 PTS)

BLACK BUCKETS & COLOR RINGS 

EMBEDDED INTO SCENARIOS

1

TOP

FRONT 1A

LEFT 1B 1C BACK

1D RIGHT

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 NOT ALIGNED SHOWN ALIGNED

WHITE BUCKETS & GREEN RINGS 

IN STANDARD TEST LANES

Levels 3-5: Payload Functionality

ADD ZOOM AND EXPOSURE TO IDENTIFY TARGETS

PURPOSE

• For professional remote pilots to demonstrate 

operational tasks in lighted, dark, and BVLOS trials.

• Use WHITE & BLACK BUCKETS to include a task workload 

at each alignment by requiring both zoom and exposure 

control to identify visual acuity targets.

PROCEDURE

• Align with each bucket and pause long enough to 

capture a SINGLE FULL-ZOOM IMAGE showing the entire 

alignment ring with clear contrast for scoring. 

• Score ALIGNMENT POINTS using both the CAPTURED 

ALIGNMENT IMAGES and ACCURATE LANDINGS similar 

to the Basic Maneuvering Trials. The zoomed in images 

of the alignment rings are typically obvious so can be 

verified during or after the trial and stored. The 

accurate landings need to be scored during the trial.

• Score ACUITY POINTS separately while aligned and 

zoomed in on the acuity targets to identify up to 5 

increasingly small gap directions through the pilot 

interface (1 point each). Use the answer key on the form 

to verify. Maximum zoom images of the acuity targets 

may be optionally captured and stored.

SCORING

• Set SEPARATE pass/fail minimum scores for both 

ALIGNMENTS and ACUITY based on a chosen trial time.

• Example pass/fail minimum score requiring 80% of 

available points across 10-20 alignments:

• 5-minute trial time limit

• 10 alignments or more (30 seconds each)

• 50+ ALIGNMENT POINTS (10 perfect or more)

• 30+ ACUITY POINTS (3 of 5 gaps per alignment)

NOTE: Drones with less stability or less zoom need to be 

quicker to align with more buckets within the time limit.

Levels 1-2: Maneuvering Only 

ALIGN WITH BUCKETS AND LAND ACCURATELY

PURPOSE

• For novice and recreational remote pilots to 

demonstrate positive aircraft control. 

• Use ALL WHITE BUCKETS to emphasize precise 

maneuvering skills while focusing on the flight paths and 

alignments.

PROCEDURE

• Align with each bucket and pause long enough to 

capture a SINGLE NO-ZOOM IMAGE showing the entire 

alignment ring. Only the first image is scored.

• Score ALIGNMENT POINTS using the CAPTURED 

ALIGNMENT IMAGES after the trial to eliminate 

discussions during the trial: 

• UNBROKEN RING (5 points)

• BROKEN RING (1 point)

• NO RING (0 points)

• Score ALIGNMENT POINTS for ACCURATE LANDINGS 

during the trial:

• CENTERED (5 points) with the aircraft center 

inside the designated 60 cm (24 inch) diameter 

circle. 

• OFFSET (1 point) with at least one propeller 

motor inside the circle.

SCORING

• Set a pass/fail minimum score for ALIGNMENT POINTS 

based on a chosen trial time.

• Example pass/fail minimum score requiring 80 of 100 

(80%) of available points across all 20 alignments:

• 5-minute trial time limit

• 16 alignments or more (20 seconds each)

• 80+ ALIGNMENT POINTS (16 perfect or more)

NOTE: Drones with less stability need to be quicker to 

align with more buckets within the time limit.

[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 green 

ring. Similar scoring for accurate or partial landings.

Align with each bucket long enough to capture a 

single alignment image (NO ZOOM) of each bucket 

AND a single acuity image (MAX ZOOM) of each 

target. 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

gy y g 

Safety | Capabilities | Proficiency

DOJ/DHS National Unmanned Aircraft Systems Program Evaluation, Aug

I

CONOPEN 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) LEN

BROKEN (1 PT)

ACCURATE (5 PTS)
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

Levels of Evaluation 

For Different Missions

Test Lane and 

Task Description

Pilot View and 

Environment

OPEN Test Lane

Basic Proficiency/Safety Checkride

Evaluate positive aircraft control in quick 

trials for novices and recreational pilots 

using the first 2 of 5 flight paths.

• 10 minutes (5 minutes each)

• 40 Alignment Points

• Short Open Lane with 

3 omni bucket stands

• White buckets only

• 2 of 5 flight paths

• Align with buckets 

and land accurately

• Line of sight

– or –

Instruments only 

(Pilot’s back turned 

with visual observer)

• Lighted or dark 

environment

OPEN Test Lane

Maneuvering Trials

Evaluate open area maneuvering around 

ground objects using all 5 flight paths with 

no additional pilot workload.

• 25 minutes (5 minutes each)

• 100 Alignment Points

• 4 omni bucket stands

• White buckets only

• 5 flight paths

• Align with buckets 

and land accurately

• Line of sight

– or –

Instruments only 

(Pilot’s back turned 

with visual observer)

• Lighted or dark 

environment

OPEN Test Lane

Payload Functionality Trials

Evaluate open area maneuvering while 

controlling zoom and exposure to identify 

ground objects using all 5 flight paths.

• 25 minutes (5 minutes each)

• 100 Alignment & 100 Acuity Points

• 4 omni bucket stands

• Black/white buckets

• 5 flight paths

• Align with buckets 

and land accurately 

with workload

• Instruments only 

(Pilot’s back turned 

with visual observer)

• Lighted or dark 

environment

OBSTRUCTED Test Lane

Payload Functionality Trials

Evaluate maneuvering in close proximity to 

objects while controlling zoom and 

exposure to inspect from 6-10 ft standoff.

• 25 minutes (5 minutes each)

• 50 Alignment & 50 Acuity Points

• 5 apparatuses with 

complementary flight 

paths

• Black/white buckets

• Align with buckets 

and land accurately 

with workload

• Instruments only

(Pilot’s back turned 

with visual observer)

• Lighted or dark 

environment

CONFINED Test Lane

Payload Functionality Trials

Evaluate maneuvering while controlling 

zoom and exposure to search room to 

room and inspect from 3-4 ft standoff.

• 25 minutes (5 minutes each)

• 50 Alignment & 50 Acuity Points

• Half size apparatuses 

of Obstructed Test 

Lane for closer 

proximity flights

• Same 5 flight paths

• Black/white cups

• Instruments only

(Pilot’s back turned 

with visual observer)

• Dark (typically)

• No GPS (typically)

2

LEVEL

3

LEVEL

4

LEVEL

5

LEVEL

1

LEVEL

M
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

LEVEL 1 | OPEN AREA BASIC SAFETY CHECKRIDE

Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

The Position and Traverse tests are performed sequentially by a remote pilot in direct line of sight, or with the pilot’s

back turned to represent flying beyond visual line of sight with an assisting visual observer. The aircraft flies the

designated flight paths to align with one or more white buckets. Each alignment requires a single image of the

inscribed green ring inside the bottom of the buckets. Perform all 40 alignments and accurate landings within the

designated time limit. Visual acuity targets evaluate camera pointing and zooming capabilities along with color,

thermal, hazmat labels, or other objects. Faults resulting in an end-of-trial include extreme deviations from the

intended flight path or contact with the apparatus, ground, or safety enclosure.

1

TOP

FRONT 1A

LEFT 1B 1C BACK

1D RIGHT

ALL “A” BUCKETS

POINT TOWARD THE 

LAUNCH/LAND

HANDLE

CENTERLINE

ONLY THE NUMBERS 

CHANGE FOR EACH 

OMNI BUCKET STAND

POST

LEGS 

FLUSH WITH TOP

NOT ALIGNED

1A 1A

ALIGNED

1A

ALIGNED

BROKEN

CONTINUOUS

1

2

3

FLIGHT LINE

ALTITUDE 10ft(3m)

START | END

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

10ft(3m)

FLIGHT LINE

z

z

z

ALTITUDE 10ft (3m)

START | END

3

2

1 10ft(3m)

ALTITUDE 20ft (6m)

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

AQUATIC

• Hold Position and Rotate

• Fly Straight and Level

• Climb and Descend

• Move and Rotate

• Land Accurately

Summary of Tests

The Position and Traverse tests are performed 

sequentially by a remote pilot in direct line of sight, or 

with the pilot’s back turned to represent flying beyond 

visual line of sight with an assisting visual observer. 

The aircraft flies the designated flight paths to align 

with one or more white buckets. Each alignment 

requires a single image of the inscribed green ring 

inside the bottom of the buckets. Perform all 40 

alignments and accurate landings within the 

designated time limit. Visual acuity targets evaluate 

camera pointing and zooming capabilities along with 

color, thermal, hazmat labels, or other objects. Faults 

resulting in an end-of-trial include extreme deviations 

from the intended flight path or contact with the 

apparatus, ground, or safety enclosure.

Test Lane Fabrication

Omni Bucket Stands , Launch/Land Platform, Measuring Tape Centerline

(QTY 01) 15m (50ft) measuring tape centerline

(QTY 01) square panel with 30cm (12in) radius circle

(QTY 03) 10x10x15cm (4x4x6in) posts 

(QTY 12) 5x10x30cm (2x4x12in) legs with 45deg tapers

(QTY 30) 7.5cm (3in) screws attach legs to post – 2 per

(QTY 30) 4cm (1-1/2in) screws attach buckets – 2 per

(QTY 15) 7.5-liter (2-gallon) white buckets

(QTY 52) 20cm (8in) round polyester weatherproof labels. 

Download and print targets and lettering from the online 

USAGE GUIDE or at RobotTestMethods.nist.gov.

A thick black marker can also be used to inscribe 2.5cm (1in) 

rings inside buckets with written letters and numbers. 

TRAVERSE (MANEUVERING 2): Fly sideways leftward and rightward 

around all three stands offset from the centerline at 10ft (3m) distance 

and altitude. Align with the outward pointing angled buckets along the 

path long enough to CAPTURE ONE IMAGE OF EACH BUCKET showing 

the inscribed rings. Then land centered on the platform with at least one 

leg in the 12in radius circle.

POSITION (MANEUVERING 1): Fly to the designated positions and 

orientations along the lane centerline at 10ft (3m) altitude and 20ft (6m) 

altitude. Simultaneously align with two buckets in each position long 

enough to CAPTURE ONE IMAGE OF EACH BUCKET showing the 

inscribed ring. Then land centered on the platform with at least one leg in 

the 12in radius circle. 

1

TOP

LEFT 1B 1C BACK

HANDLE

NOT ALIGNED

1A 1A

ALIGNED

1A

ALIGNED

BROKEN

CONTINUOUS

1

2

3

FLIGHT LINE

ALTITUDE 10ft(3m)

START | END

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

10ft(3m)

FLIGHT LINE

z

z

z

ALTITUDE 10ft (3m)

START | END

3

2

1 10ft(3m)

ALTITUDE 20ft (6m)

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

AQUATIC

• Hold Position and Rotate

• Fly Straight and Level

• Climb and Descend

• Move and Rotate

• Land Accurately

ummary of Tests

 Position and Traverse tests are performed 

uentially by a remote pilot in direct line of sight, or 

 the pilot’s back turned to represent flying beyond 

al line of sight with an assisting visual observer. 

 aircraft flies the designated flight paths to align 

 one or more white buckets. Each alignment 

uires a single image of the inscribed green ring 

de the bottom of the buckets. Perform all 40 

nments and accurate landings within the 

gnated time limit. Visual acuity targets evaluate 

mera pointing and zooming capabilities along with 

or, thermal, hazmat labels, or other objects. Faults 

ulting in an end-of-trial include extreme deviations 

m the intended flight path or contact with the 

aratus, ground, or safety enclosure.

Test Lane Fabrication

TRAVERSE (MANEUVERING 2): Fly sideways leftward and rightward 

around all three stands offset from the centerline at 10ft (3m) distance 

and altitude. Align with the outward pointing angled buckets along the 

path long enough to CAPTURE ONE IMAGE OF EACH BUCKET showing 

the inscribed rings. Then land centered on the platform with at least one 

leg in the 12in radius circle.

POSITION (MANEUVERING 1): Fly to the designated positions and 

orientations along the lane centerline at 10ft (3m) altitude and 20ft (6m) 

altitude. Simultaneously align with two buckets in each position long 

enough to CAPTURE ONE IMAGE OF EACH BUCKET showing the 

inscribed ring. Then land centered on the platform with at least one leg in 

the 12in radius circle. 

1

2

3

FLIGHT LINE

ALTITUDE 10ft(3m)

START | END

10ft(3m)

10ft(3m)

10ft(3m)

10ft(3m)

50 ft (15m)

10ft(3m)

Test Lane Fabrication

Omni Bucket Stands , Launch/Land Platform, Measuring Tape Centerline

(QTY 01) 15m (50ft) measuring tape centerline

(QTY 01) square panel with 30cm (12in) radius circle

(QTY 03) 10x10x15cm (4x4x6in) posts 

(QTY 12) 5x10x30cm (2x4x12in) legs with 45deg tapers

(QTY 30) 7.5cm (3in) screws attach legs to post – 2 per

(QTY 30) 4cm (1-1/2in) screws attach buckets – 2 per

(QTY 15) 7.5-liter (2-gallon) white buckets

(QTY 52) 20cm (8in) round polyester weatherproof labels. 

Download and print targets and lettering from the online 

USAGE GUIDE or at RobotTestMethods.nist.gov.

A thick black marker can also be used to inscribe 2.5cm (1in) 

rings inside buckets with written letters and numbers. 

TRAVERSE (MANEUVERING 2): Fly sideways leftward and rightward 

around all three stands offset from the centerline at 10ft (3m) distance 

and altitude. Align with the outward pointing angled buckets along the 

path long enough to CAPTURE ONE IMAGE OF EACH BUCKET showing 

the inscribed rings. Then land centered on the platform with at least one 

leg in the 12in radius circle.

en

inscribed 

the 12in radius cir

6 PITCH FORWARD OVER STAND #2 TO ALIGN WITH 2 & 3A

7 PITCH BACKWARD OVER STAND #1 TO ALIGN WITH 1 & 2A

8 PITCH FORWARD OVER STAND #2 THEN YAW LEFT 180° 2 & 1C

9 PITCH FORWARD OVER LANDING THEN YAW RIGHT 180° L & 1A

10 LAND IN CIRCLE (ONE OR MORE LEGS ) – WORTH 2 POINTS 1pt & 1pt 

CIRCLE ALIGNED

11 HOVER OVER THE LAUNCH PLATFORM TO ALIGN WITH 1A

12 ORBIT 90° LEFTWARD AROUND STAND #1 TO ALIGN WITH 1B

13 ROLL LEFTWARD TO STAND #2 TO ALIGN WITH 2B

14 ROLL LEFTWARD TO STAND #3 TO ALIGN WITH 3B

15 ORBIT 90° LEFTWARD AROUND STAND #3 TO ALIGN WITH 3C

16 ORBIT 90° LEFTWARD AROUND STAND #3 TO ALIGN WITH 3D

17 ROLL LEFTWARD TO STAND #2 TO ALIGN WITH 2D

18 ROLL LEFTWARD TO STAND #1 TO ALIGN WITH 1D

19 ORBIT 90° LEFTWARD AROUND STAND #1 TO ALIGN WITH 1A

20 LAND IN CIRCLE (ONE OR MORE LEGS) – WORTH 1 POINT 1pt

CIRCLE ALIGNED

21 HOVER OVER THE LAUNCH PLATFORM TO ALIGN WITH 1A

22 ORBIT 90° RIGHTWARD AROUND STAND #1 TO ALIGN WITH 1D

23 ROLL RIGHTWARD TO STAND #2 TO ALIGN WITH 2D

24 ROLL RIGHTWARD TO STAND #3 TO ALIGN WITH 3D

25 ORBIT 90° RIGHTWARD AROUND STAND #3 TO ALIGN WITH 3C

26 ORBIT 90° RIGHTWARD AROUND STAND #3 TO ALIGN WITH 3B

27 ROLL RIGHTWARD TO STAND #2 TO ALIGN WITH 2B

28 ROLL RIGHTWARD TO STAND #1 TO ALIGN WITH 1B

29 ORBIT 90° RIGHTWARD AROUND STAND #1 TO ALIGN WITH 1A

30 LAND IN CIRCLE (ONE OR MORE LEGS ) – WORTH 1 POINT 1pt

 : : 

 :

 CIRCLE ONE: FAIL ( SCORE | TIME | SAFETY ) OR PASS

 CAPTURE CLOCK IMAGE AFTER LANDING – LAND TIME (HH:MM:SS)

 _______ / 40 MINIMUM PASSING SCORE – TOTAL SCORE (POINTS)

 STOP THE TIMER OR CALCULATE RESULT – ELASPED TIME (MM:SS)

TRAVERSE TEST – FLYING LEFTWARD 

 TRAVERSE TEST – FLYING RIGHTWARD

FABRICATION FLIGHT PATHS

SAFETY CHECKRIDE

LEVEL 1 | OPEN LANE
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

M LEVEL 2 | OPEN AREA MANEUVERING ONLY

Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

Perform 5 different flight paths around the omni bucket stands. Each flight path includes as sequence of alignments

with one or more buckets. Capture a SINGLE IMAGE of the inscribed ring inside each bucket and land accurately.

• Score ALIGNMENT POINTS after trial from images with UNBROKEN RINGS (5 pts) or BROKEN RINGS (1 pt).

• Land CENTERED (5 pts) with the aircraft center inside the designated 60 cm (24 inch) diameter circle, or OFFSET

(1 pt) with at least one propeller motor inside the circle.

• Start timer at launch and end after the last task is completed. Trial time limits are typically 5 minutes each (25

minutes to complete all 5 tests) although organizations may set their own trial time limits and passing scores.

• Extreme deviations from the intended flight path, or contact with any object, ends the trial to ensure safety.

Unmanned Aircraft Systems

n Homeland Security Applications; 

 RobotTestMethods.nist.gov

20B9 Page 60

Related Scenarios

ORESHEET

0B2

he omni bucket stands in the test lane or as embedded

lignments with one or more buckets to identify recessed

e can maintain the designated position, orientation, and

ibed ring at the bottom of the bucket. A single alignment

al. Additional targets inside each bucket evaluate camera

nd thermal acuity and identify color shifts, hazardous

deviations from the intended flight paths or contact with

1

2

3

FLIGHT LINE

4

z

z

ALTITUDE S FLY STRAIGHT AND LEVEL OVER THE LANE CENTERLINE

START | END

ALIGN

NON-STOP

NON-STOP NON-STOP

NON-STOP

NON-STOP

NON-STOP

z

S

S S S S

5(S)

S

ALIGN CW

CCW

RECON

MAN/PAY 5

FLIGHT LINE

4

z

START | END 3

2

1

5(S)

S

S S S S

ALTITUDE 1⁄2( S) 2

3 4

5

1 2

5 4

3

CW

CCW

1

CCW

1 2

5 4

3

2

3 4

5

CW INSPECT

1

MAN/PAY 4

1

2

3

FLIGHT LINE

4

ALTITUDE S

START | END

5(S)

S

S S S S

1A

1B

2B

3B 3C

3D

2D

1D

TRAVERSE

MAN/PAY 2

FLIGHT LINE

4

z

z

z

ALTITUDE S

START | END 3

2

1

5(S)

ALTITUDE 2(S)

S

S S S S

POSITION

MAN/PAY 1

1

2

3

FLIGHT LINE

4 ALTITUDE 2(S)

START | END

S

S S S S

5(S

)

ALTITUDE S

#2 & 3A

3B 3C

3D

#1 & 3A

3B

3C

3D

ORBIT

MAN/PAY 3

,

e

f

o

d

e

d

e

d

e

d

d

e

h

n

e

t

e

d

n

e

e

e

e

d

g

A

)

o

• Demonstrate basic flight maneuvers between designated hover positions, 

orientations, and altitudes along the lane centerline at altitudes S and 2(S).

• Climb, descend, yaw, pitch, and roll to simultaneously align with downward 

buckets to check position then forward buckets to check altitude. 

• Complete 10 positions along the lane centerline with 18 alignments and 1 

accurate landing (counts double) to score up to 100 points. 

• Fly sideways parallel to objects while looking forward to identify features as if 

along a road, truck, bus, building, fence, tree line, etc. 

• Maintain altitude S flying leftward and rightward around the first three bucket 

stands to align with all the designated buckets.

• Complete 1 lap leftward then 1 lap rightward with 18 alignments and 2 

accurate landings to score up to 100 points. 

• Fly circular orbits around designated bucket stands while looking inward to 

identify features on all four sides. Fly altitude 2(S) leftward and rightward around 

stand #3 (white), then altitude S leftward and rightward around stand #2 (black).

• Each orbit has 5 bucket alignments starting with 1 downward radius check then 4 

altitude checks around the orbit looking inward at the angled buckets.

• Complete 4 orbits with 20 alignments to score up to 100 points. 

• Fly in closer proximity around objects to inspect detailed features on top and all 

four sides of the bucket stands.

• Maintain altitude 1/2(S) starting on top of each bucket stand with alternating 

leftward and rightward rotations to inspect all four sides of each bucket stand. 

• Complete all 4 stands with 20 alignments to score up to 100 points. 

• Fly straight and level over the centerline to establish a stable hover over an 

object down range to perform reconnaissance tasks. 

• Maintain altitude S to align with buckets and the landing at each end of the lane. 

Reconnaissance tasks are performed every 8(S) over a total distance of 80(S).

• Complete 5 laps (or 10 lane lengths) with 20 alignments to score up to 100 

points. 

1

2

3

FLIGHT LINE

4 ALTITUDE 2(S)

START | END

S

S S S S

5(S)

ALTITUDE S #1 & 2A

2B 2C

2D

#1 & 3A

3B

3C

3D

POSITION

MAN 1

TRAVERSE

MAN 2

RECON

MAN 5

INSPECT

MAN 4

ORBIT

MAN 3

VERSION 2020Q

MANEUVERING ONLY

LEVEL 2 | OPEN LANE M
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

Perform 5 different flight paths around the omni bucket stands. Each flight path includes a sequence of alignments

with one or more buckets. While aligned with each bucket, control camera zoom and exposure to capture a

SINGLE IMAGE of the inscribed ALIGNMENT RING and IDENTIFY VISUAL ACUITY TARGETS inside each bucket.

g

lated Scenarios

RESHEET

2

omni bucket stands in the test lane or as embedded

nments with one or more buckets to identify recessed

an maintain the designated position, orientation, and

d ring at the bottom of the bucket. A single alignment

Additional targets inside each bucket evaluate camera

thermal acuity and identify color shifts, hazardous

iations from the intended flight paths or contact with

1

2

3

FLIGHT LINE

4

z

z

ALTITUDE S FLY STRAIGHT AND LEVEL OVER THE LANE CENTERLINE

START | END

ALIGN

NON-STOP

NON-STOP NON-STOP

NON-STOP

NON-STOP

NON-STOP

z

S

S S S S

5(S)

S

ALIGN CW

CCW

RECON

MAN/PAY 5

FLIGHT LINE

4

z

START | END

3

2

1

5(S)

S

S S S S

ALTITUDE 1⁄2( S) 2

3 4

5

1 2

5 4

3

CW

CCW

1

CCW

1 2

5 4

3

2

3 4

5

CW INSPECT

1

MAN/PAY 4

1

2

3

FLIGHT LINE

4

ALTITUDE S

START | END

5(S)

S

S S S S

1A

1B

2B

3B 3C

3D

2D

1D

TRAVERSE

MAN/PAY 2

FLIGHT LINE

4

z

z

z

ALTITUDE S

START | END

3

2

1

5(S)

ALTITUDE 2(S)

S

S S S S

POSITION

MAN/PAY 1

1

2

3

FLIGHT LINE

4 ALTITUDE 2(S)

START | END

S

S S S S

5(S

)

ALTITUDE S

#2 & 3A

3B 3C

3D

#1 & 3A

3B

3C

3D

ORBIT

MAN/PAY 3

1

2

3

FLIGHT LINE

4 ALTITUDE 2(S)

START | END

S

S S S S

5(S)

ALTITUDE S #1 & 2A

2B 2C

2D

#1 & 3A

3B

3C

3D

POSITION

TRAVERSE

ORBIT

INSPECT

RECON

• Demonstrate basic flight maneuvers between designated hover positions, 

orientations, and altitudes along the lane centerline at altitudes S and 

2(S).

• Climb, descend, yaw, pitch, and roll to simultaneously align with 

downward buckets to check position then forward buckets to check 

altitude. 

• Complete 10 positions along the lane centerline with 18 alignments and 

1 accurate landing (counts double) to score up to 100 points. 

• Fly sideways parallel to objects while looking forward to identify 

features as if along a road, truck, bus, building, fence, tree line, etc. 

• Maintain altitude S flying leftward and rightward around the first three 

bucket stands to align with all the designated buckets.

• Complete 1 lap leftward then 1 lap rightward with 18 alignments and 

2 accurate landings to score up to 100 points. 

• Fly circular orbits around designated bucket stands while looking 

inward to identify features on all four sides. Fly altitude 2(S) leftward 

and rightward around stand #3 (white), then altitude S leftward and 

rightward around stand #2 (black).

• Each orbit has 5 bucket alignments starting with 1 downward radius 

check then 4 altitude checks around the orbit looking inward at the 

angled buckets.

• Complete 4 orbits with 20 alignments to score up to 100 points. 

• Fly in closer proximity around objects to inspect detailed features on 

top and all four sides of the bucket stands.

• Maintain altitude 1/2(S) starting on top of each bucket stand with 

alternating leftward and rightward rotations to inspect all four sides of 

each bucket stand. 

• Complete all 4 stands with 20 alignments to score up to 100 points. 

• Fly straight and level over the centerline to establish a stable hover 

over an object down range to perform reconnaissance tasks. 

• Maintain altitude S to align with buckets and the landing at each end of 

the lane. Reconnaissance tasks are performed every 8(S) over a total 

distance of 80(S).

• Complete 5 laps (or 10 lane lengths) with 20 alignments to score up to 

100 points. 

LEVEL 3 | OPEN AREA PAYLOAD FUNCTIONALITY
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

LEVEL 3 | OPEN AREA SCORABLE SCENARIOS

Perform the designated flight paths around objects with omni bucket stands. Each flight path includes a sequence of

alignments with one or more buckets. While aligned with each bucket, control camera zoom and exposure to

capture a SINGLE IMAGE of the inscribed ring and IDENTIFY TARGETS inside each bucket or in view nearby. Identify

other objects of interest within the scenario at the same time.

• Score ALIGNMENT POINTS after the trial from images with UNBROKEN RINGS (5 pts) or BROKEN RINGS (1 pt).

• Score ACUITY POINTS by calling out the 5 increasingly small VISUAL ACUITY TARGET GAPS (1 pt each).

• Land CENTERED (5 pts) with the aircraft center inside the designated 60 cm (24 inch) diameter circle, or OFFSET

(1 pt) with at least one propeller motor inside the circle.

• Start timer at launch and end after the last task is completed. Trial time limits are typically 5 minutes each (25

minutes to complete all 5 tests) although organizations may set their own trial time limits and passing scores.

• Extreme deviations from the intended flight path, or contact with any object, ends the trial to ensure safety.

20 

Open Vehicle Identification Scenarios

Day and Night Trials

Standard Test Methods for Small Unmanned 

ASTM International Standards Committee for Homeland Sec

Response Robots (E54.09) Website: RobotTestMetho

perches evaluate landing accuracy along with the functional pa

aircraft while landed at the chosen orbit radius. Perching demo

to maintain surveillance while conserving battery. The perch ta

vehicle that represent operationally significant underbody obje

A5, C5). 

Figure 14) Vehicle Identification Scenario flight path. RIGHT

Standard Test Methods for Small Unmanned A

ASTM International Standards Committee on Homeland Sec

Response Robots (E54.09) | Website: RobotTestMet

objects. All targets are on the exterior of the vehicle to eliminate potent

interior target obstructions, window glare, tinting, etc. Interior target id

bonus points because they are less comparable across trials due to chan

 Figure 12) LEFT: The Open scenario for vehicle identification includes a f

A1 – FRONT SIDE OMNI B1 – PASSENGER SIDE OMNI

D1 – DRIVER’S SIDE OMNI C1 – REAR OMNI

REAR PERCH

FRONT PERCH

ROOF OMNI BUCKET TARGETS

(A1, B1, C1, D1) 

5 TARGETS TO IDENTIFY ON EACH SIDE = 20 TARGETS = 100 POINTS

STICKERS ON ALL SIDES OF THE VEHICLE 

AND SURROUNDING GROUND

PERCH BUCKETS TARGETS

FRONT AND REAR

1 

2 

3 

4 

5 

6 

7 

8 

9 

1

1

1

1

1

1

1

1

1

1

2

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

ROTATION

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Related Scenarios with the Same Scoring Tasks

Open Scenarios

WIDE AREA SEARCH URBAN AREA SEARCH VEHICLE IDENTIFICATION

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Standard Test Lanes Lead To Related Scenarios

Safety | Capabilities | Proficiency

VEHICLE INSPECTION DHS Responder Familiarization Exercise

ROOTOP 

FLUSH

OBSTACLE / SUNNY

RECESSED

OPEN / SUNNY

OPEN / SHADY

CONFINED

WIDE AREA SEARCH BUILDING EXTERIOR SEARCH

REMOTE PILOT TRAINING – CANADIAN POLICE COLLEGE, ONTARIO, CANADA

20 OMNI TARGETS = 100 PTS 20 EXTERIOR/INTEROR = 100 PTS 20 DOWNWARD 20 FORWARD

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Standard Test Lanes Lead To Related Scenarios

Safety | Capabilities | Proficiency

VEHICLE INSPECTION DHS Responder Familiarization Exercise

ROOTOP 

FLUSH

OBSTACLE / SUNNY

RECESSED

OPEN / SUNNY

OPEN / SHADY

CONFINED

WIDE AREA SEARCH BUILDING EXTERIOR SEARCH

REMOTE PILOT TRAINING – CANADIAN POLICE COLLEGE, ONTARIO, CANADA

20 OMNI TARGETS = 100 PTS 20 EXTERIOR/INTEROR = 100 PTS 20 DOWNWARD 20 FORWARD

21

All scenarios have 20 targets for up to 100 pts each

Standard Test M

ASTM Internatio

Response 

Figure 16) A panel truck version o

targets plus a set of bonus targets 

 Figure 17) Any size vehicle or mulit-

and scoring.

Obstructed Test Lanes and 

Obstructed Test Lanes

VIN 

20 

AC

EXT

LO

NU

CO

CONCURRENT OBJECTIVES

FOR 3 TEAMS TO FLY

Unmanned Aircraft Systems

n Homeland Security Applications; 

 RobotTestMethods.nist.gov

OPEN AREA SEARCH

SCENARIO

10 FT

20 FT

30 FT

40 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

15

rch Scenario

enue

ns 

. 

th 

e 

t, 

• Teams concurrently fly separate objectives set up at 

safe distances and/or altitudes apart (with a clearly 

designated and safe return path).

• Each pilot flies for 15 minutes across 3 different 

objectives for 5 minutes each. Teams move as 

necessary to maintain sight lines and communication.

• Scenarios restart with a different rotation of Pilot, 

Proctor, and VO.

SEQUENCE DOWN RANGE

RETURN OVER ROAD

Open Area Search Scenarios

Day and Night Trials
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

OBSTRUCTED TEST LANE Level 4: Payload Functionality 

Trials 

ods.nist.gov

Page 73

ted Scenarios

ET

he test lanes or as embedded scoring tasks in

complete 20 bucket alignments and identify

uccessful when the drone can maintain the

pletely inscribed ring at the bottom of the

ide the ANGLED BUCKETS provide a modest

easure visual and thermal acuity. Identify as

es all alignments and identifications to their

used after the trial to analyze performance,

 = 20 BUCKET ALIGNMENTS) 

UNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

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

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

ods.nist.gov

Page 73

ted Scenarios

ET

he test lanes or as embedded scoring tasks in

complete 20 bucket alignments and identify

uccessful when the drone can maintain the

pletely inscribed ring at the bottom of the

ide the ANGLED BUCKETS provide a modest

easure visual and thermal acuity. Identify as

es all alignments and identifications to their

used after the trial to analyze performance,

 = 20 BUCKET ALIGNMENTS) 

UNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

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)

Page 73

ated Scenarios

ET

he test lanes or as embedded scoring tasks in

complete 20 bucket alignments and identify

uccessful when the drone can maintain the

pletely inscribed ring at the bottom of the

side the ANGLED BUCKETS provide a modest

easure visual and thermal acuity. Identify as

es all alignments and identifications to their

used after the trial to analyze performance,

 = 20 BUCKET ALIGNMENTS) 

UNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

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)

Perform 5 different flight paths around the dual bucket rails in either scale of test lane. Each flight path includes 

alignments with perpendicular buckets then angled buckets using zoom and exposure control to identify recessed targets. 

• All sequences have 10 positions with 20 buckets to score: 1 2 3 4 – 3 2 1 – 2 3 4 (forward–reverse–forward)

• Score ALIGNMENT POINTS by capturing a SINGLE IMAGE of the inscribed rings to verify alignments during or after the

trial: UNBROKEN RINGS (5 pts), BROKEN RINGS (1 pt).

• Score ACUITY POINTS by identifying and calling out the 5 increasingly small VISUAL ACUITY TARGET GAPS (1 pt each).

• Faults for extreme deviations from the intended flight path or contact with any object ends the trial to ensure safety.

• Timer starts at launch and ends after the last task is completed. Trial time limits are typically set to 5 minutes each (25

minutes to complete all 5 tests) although organizations may set their own trial time limits and passing scores.

VERSION 2020N

• Land or hover just above the ground within proximity to a wall or obstacle with 

additional ground obstacles on both sides. Launch and land repeatedly if necessary to 

score all buckets in the sequence of perch tasks. 

• Inspect vertical and horizontal object features all around the aircraft.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

PERCH

PAY 6

WALL

PAY 7

GROUND

PAY 8

ALLEY

PAY 9

POST

PAY 10

Page 73

ated Scenarios

ET

he test lanes or as embedded scoring tasks in

complete 20 bucket alignments and identify

uccessful when the drone can maintain the

pletely inscribed ring at the bottom of the

side the ANGLED BUCKETS provide a modest

easure visual and thermal acuity. Identify as

res all alignments and identifications to their

used after the trial to analyze performance,

S = 20 BUCKET ALIGNMENTS) 

UNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

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)

• Fly within proximity to a wall or obstacle at 45 degrees from forward of the aircraft.

• Inspect vertical object features upward and downward.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

• Fly within proximity to a wall or obstacles at 90 degrees from forward of the aircraft.

• Inspect horizontal object features leftward and rightward.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

• Fly within proximity to a post and wall or obstacle and pass between the post and the 

wall.

• Inspect vertical object features upward and downward all around the post.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

• Fly within proximity to a wall or obstacle in front of the aircraft (0 degrees) and 

behind the aircraft (180 degrees).

• Inspect horizontal object features leftward and rightward.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

LEVEL 4 | OBSTRUCTED PAYLOAD FUNCTIONALITY
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

LEVEL 4 | OBSTRUCTED SCORABLE SCENARIOS

Perform the designated flight paths to triangulate around dual bucket rails in various orientations. Align

with perpendicular buckets then angled buckets. Use zoom and exposure to identify targets inside the buckets.

• All sequences have 5 apparatuses defining 10 positions with 20 alternating white and black buckets to score.

• Score ALIGNMENT POINTS by capturing a SINGLE IMAGE of the inscribed rings to verify alignments during or after

the trial: UNBROKEN RINGS (5 pts), BROKEN RINGS (1 pt).

• Score ACUITY POINTS by identifying the 5 increasingly small VISUAL ACUITY TARGET GAPS (1 pt each).

• Faults for extreme deviations from the intended flight path or contact with any object ends the trial for safety.

• Timer starts at launch and ends after the last task is completed. Trial time limits are typically set to 15-20 minutes,

although organizations may set their own trial time limits and passing scores.

• Teams concurrently fly separate objectives set up at 

safe distances and/or altitudes apart (with a clearly 

designated and safe return path).

• Each pilot flies for 15 minutes across 3 different 

objectives for 5 minutes each. Teams move as 

necessary to maintain sight lines and communication.

• Scenarios restart with a different rotation of Pilot, 

Proctor, and VO.

Obstructed Search Scenarios

Day and Night Trials

USE SETS OF 5 “OFFSET” DUAL BUCKET RAILS 

HORIZONTALS DISTRIBUTED WITH OBJECTS OF INTEREST

Figure 27) The scenario façade was embedded with window inspection tasks on two sides with partially 

collapsed walls. Each Dual Bucket Alignment guides t

ALIGNED DRONE LOOKING 

THROUGH THE WINDOW

VERTICALS IN ELEVATED WINDOWS AND ON STRUCTURES

67

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

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

Figure 2) The Obstructed Test Lanes and related scenarios address different mission complexities

requiring drones to fly in close proximity to outdoor objects to inspect detailed features from 2-3 m (6-

10 ft).

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 

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

10

Measuring sUAS Performance: Close Proximity Inspection

Safety | Capabilities | Proficiency

VEHCLE INSPECTION

OBJECT INSPECTION

STRUCTURE INSPECTION STRUCTURE INSPECTION

DUAL BUCKET ALIGNMENTS GUIDE 

PILOTS INTO SAFE POSITIONS 

WITHIN PROXIMITY TO OBJECTS

Obstructed 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

Version 2022A 2

Scoring Payload Functionality Trials

Payload Functionality Trials with Pilot Back Turned

2

INTERNAL TEAM ROTATION

Select Trial Settings for Different Flight Credentials

Focus Training and Evaluate Proficiency for Credentialing

CREDENTIALS Daylight/LOS BVLOS Night Ops

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 

POSITIONING AIDS LIKE STRUCTURE 

WINDOWS OR STREET LIGHTS

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

THE PILOT’S BACK TURNED TO THE LANE FORCES 

RELIANCE ON THE INTERFACE 

(VISUAL OBSERVER REQUIRED)

1) Select the test lane and scenarios based 

on the intended environment and aircraft: 

– Open, Obstructed, or Indoor

2) Select the test procedure and time limit 

based on the intended mission:

– MAN (5 min. each) or PAY (10 min. each)

3) Select the minimum proficiency based on 

average or “expert” scores in the same trials:

– Example: 40%, 60%, 80% of “expert”

4) Select pilot view:

– Line of Sight or BVLOS

5) Select lighting (indoor or outdoor) for 

daylight or night credentials:

– Lighted/Daylight or Dark

DAYLIGHT / LOS ADDITIONAL

PRACTICE 

INTERFACE ONLY

IN FAMILIARITY 

TRIALS DAY 1 & 2.

USE INTERFACE 

ONLY FOR SCORING 

TRIALS ON DAY 3.

DECLARE EACH 

CONCENTRIC C FOR 

YOUR PROCTOR TO 

SCORE DURING 

THE TRIAL.

Conduct Tests Two Ways

Open Test Lane

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

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

5

Bucket Stands Each lane uses (4) omni-directional bucket stands, a 

Launch/Land Platform, and a measuring taps 

centerline. The parts for each stand include:

[1] 4x4x6in center post

[4] 2x4x12in legs with 45deg taper both ends

[5] 2-gallon white buckets (8in diameter)

10] 3in screws to affix the legs – 2 per leg at top

[5] 1in screws to affix the buckets

[4] Slotted leg extensions

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

leg extensions to slide on and tighten

[15] 8in diameter weatherproof stickers

(see website to download the sticker files)

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

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

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

[2] Perch acuity targets inside and bottom of A

.

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

DATE/TIME

PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

(4) OMNI STANDS

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.

Basic Maneuvering (MAN)

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Functionality (PAY) 

ALIGN AND IDENTIFY ACUITY TARGETS

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Montgomery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

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

I

CONFINED TEST LANE

GPS DENIED

and

DARK (<1 LUX)

DUAL BUCKET 

ALIGNMENTS

AT 1 M (3 FT) 

PROXIMITY TO 

OBSTACLES

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 (25 FT)

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. 

Standard Test Methods for Small Unmanned Aircraft 

ASTM International Standards Committee for Homeland Security Applica

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

Figure 2) The Obstructed Test Lanes and related scenarios address diffe

requiring drones to fly in close proximity to outdoor objects to inspect detai

10 ft).

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Measuring sUAS Performance: Close Proximity Inspe

Safety | Capabilities | Proficiency

VEHCLE INSPECTION

OBJECT INSPECTION

STRUCTURE INSPECTION STRUCTUR

DUAL BU

PILOTS 

WITHIN 

Obstructed Test Lane and Related Operational S

Standard Test Methods for Small Unmanned Aircraf

ASTM International Standards Committee on Homeland Security Ap

Response Robots (E54.09) | Website: RobotTestMethods.nis

Scoring Payload Functiona

Payload Functionality Trials with Pilo

Select Tr

Focus Tr

1) Select the test lane and scena

on the intended environment 

– Open, Obstructed, or Indoo

2) Select the test procedure and 

based on the intended mission

– MAN (5 min. each) or PAY (1

3) Select the minimum proficienc

average or “expert” scores in t

– Example: 40%, 60%, 80% of 

4) Select pilot view:

– Line of Sight or BVLOS

5) Select lighting (indoor or outd

daylight or night credentials:

– Lighted/Daylight or Dark

DAYLIGHT / LOS ADDITIONAL

Conduct Tests Two Ways

Open Test Lane

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Bucket Stands

Each lane uses (4) omni-directional bucket stands, a 

Launch/Land Platform, and a measuring taps 

centerline. The parts for each stand include:

[1] 4x4x6in center post

[4] 2x4x12in legs with 45deg taper both ends

[5] 2-gallon white buckets (8in diameter)

10] 3in screws to affix the legs – 2 per leg at top

[5] 1in screws to affix the buckets

[4] Slotted leg extensions

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

leg extensions to slide on and tighten

[15] 8in diameter weatherproof stickers

(see website to download the sticker files)

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

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

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

[2] Perch acuity targets inside and bottom of A

.

PILOT CODE

48

100-300 FT MEAS

(

A

D

C

B 1, 2, 3, 4

AD

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 

single alignment image (NO 

acuity image of each targe

point for each correct ident

increasingly small Concentr

Basic Maneuvering (MAN)

ALIGN WITH BUCKETS AND LAND ACCURATELY

Payload Functionalit

ALIGN AND IDENTIFY AC

20 ALIGNMENTS TOTAL UP TO 100 POINTS 20 TARGETS TOTAL 

Standard Test Methods for Sm

ASTM International Standards Comm

Response Robots (E54.09) | W

Montgomery County Police Dro

Safety | Capabil

DOJ/DHS National Unmanned Aircraft S

OPEN TEST LANE

B

E

OBSTRUC

DUAL BUCKET 

ALIGNMENTS

AT 2 M (6 FT) 

Align with each bucket lon

inscribed ring and declare 

C gap directions as possibl

video or zoomed in image

yourself, although scores m

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

gomery County Police Drone Training & Evaluation Facility

Safety | Capabilities | Proficiency

ERIOR BUS EXTERIOR WINDOWS EXTERIOR GROUND INTERIOR ROOMS INTERIOR STAIRS INTERIOR BUS

National Unmanned Aircraft Systems Program Evaluation, August 2020

Operational Scenarios with Embedded Scoring 

(Each with 20 buckets/targets, 100 points maximum)

H F G J K x2 L M

PERCH

Obstructed Vehicle Inspection Scenarios

Day and Night Trials

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

ROTATION

CONCURRENT OBJECTIVES

FOR 3 TEAMS TO FLY

PERCH

WHITE BUCKET ALIGNMENTS BLACK BUCKET ALIGNMENTS

Page 19 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

Structure exterior inspection tasks include looking through windows and doors along with surrounding 

ground objects of interest. In this case, the tasks were embedded around a partially collapsed 

structure. The objective was to safely fly in close proximity of about 2 m (6 ft) from the windows and doors 

to perform a window/door clearing maneuver with high/low and left/right views inside the structure. 

 

Figure 26) Obstructed apparatuses are set up in sets of vertical and horizontal tasks throughout the 

scenario.

Figure 27) The scenario façade was embedded with window inspection tasks on two sides with partially 

collapsed walls. Each Dual Bucket Alignment guides the remote pilot to positions and orientations with 

high/low and left/right views inside the windows.

ALIGNED DRONE LOOKING 

THROUGH THE WINDOW

VERTICAL

HORIZONTAL

ALIGNMENT TASKS IN 

WINDOW/DOORS

Page 16 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

 Figure 19) LEFT: Other interior tasks using the small buckets in confined search spaces. CENTER: Two 

apparatuses require vertical alignments. RIGHT: Three apparatuses require horizontal alignments. This is the 

final perch position to maintain a view of an object of interest.

Obstructed Scenario: Vehicle Takedown 

Quad Screen Trial Video Example - Vehicle Takedown

Figure 20) LEFT: Vehicles of all sizes and conditions can be bucketized similarly for quantitative scoring, 

including panel vans and trucks. RIGHT: Dual bucket alignments guide the drone into position to look inside 

the front windshield from two different angles while using triangulation between the buckets to stay safe.

 Figure 21) The bucket numbering leads the pilot around an orbit starting in front of the vehicle, then around 

to the driver side, and so on. The large buckets targets are identified in the first orbit to assess the situation 

WHITE BUCKET ALIGNMENTS

BLACK BUCKET ALIGNMENTS

HORIZONTAL VERTICAL

USE SETS OF 5 “INLINE” DUAL BUCKET RAILS 

DISTRIBUTED THROUGHOUT THE SCENARIO

PERCH

Obstructed Vehicle Inspection Scenarios

Day and Night Trials

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

C

D

INSPECT 

< 50 FT ALTITUDE AND RADIUS

ERWATCH 

< 200 FT 

UDE AND RADIUS C

D

CENTER

OVERWATCH

INSPECT

OBJECT

VEHICLE

TRUCTURE

ANYTHING

ROTATION

CONCURRENT OBJECTIVES

FOR 3 TEAMS TO FLY

PERCH

WHITE BUCKET ALIGNMENTS BLACK BUCKET ALIGNMENTS

Page 19 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

Structure exterior inspection tasks include looking through windows and doors along with surrounding 

ground objects of interest. In this case, the tasks were embedded around a partially collapsed 

structure. The objective was to safely fly in close proximity of about 2 m (6 ft) from the windows and doors 

to perform a window/door clearing maneuver with high/low and left/right views inside the structure. 

 

Figure 26) Obstructed apparatuses are set up in sets of vertical and horizontal tasks throughout the 

scenario.

Figure 27) The scenario façade was embedded with window inspection tasks on two sides with partially 

collapsed walls. Each Dual Bucket Alignment guides the remote pilot to positions and orientations with 

high/low and left/right views inside the windows.

ALIGNED DRONE LOOKING 

THROUGH THE WINDOW

VERTICAL

HORIZONTAL

ALIGNMENT TASKS IN 

WINDOW/DOORS

Page 16 11/9/21

ethods for Small Unmanned Aircraft Systems

Standards Committee on Homeland Security Applications; 

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

 the small buckets in confined search spaces. CENTER: Two 

RIGHT: Three apparatuses require horizontal alignments. This is the 

an object of interest.

own 

 Takedown

onditions can be bucketized similarly for quantitative scoring, 

ual bucket alignments guide the drone into position to look inside 

ngles while using triangulation between the buckets to stay safe.

e pilot around an orbit starting in front of the vehicle, then around 

ckets targets are identified in the first orbit to assess the situation 

WHITE BUCKET ALIGNMENTS

BLACK BUCKET ALIGNMENTS

HORIZONTAL VERTICAL

USE SETS OF 5 “INLINE” DUAL BUCKET RAILS 

DISTRIBUTED THROUGHOUT THE SCENARIO
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

LEVEL 5 | CONFINED PAYLOAD FUNCTIONALITY

Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

OBSTRUCTED TEST LANE Level 4: Payload Functionality 

Trials 

hods.nist.gov

Page 73

ated Scenarios

ET

he test lanes or as embedded scoring tasks in

complete 20 bucket alignments and identify

uccessful when the drone can maintain the

mpletely inscribed ring at the bottom of the

side the ANGLED BUCKETS provide a modest

easure visual and thermal acuity. Identify as

res all alignments and identifications to their

used after the trial to analyze performance,

S = 20 BUCKET ALIGNMENTS) 

UNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

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

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

hods.nist.gov

Page 73

ated Scenarios

ET

he test lanes or as embedded scoring tasks in

complete 20 bucket alignments and identify

uccessful when the drone can maintain the

mpletely inscribed ring at the bottom of the

side the ANGLED BUCKETS provide a modest

easure visual and thermal acuity. Identify as

res all alignments and identifications to their

used after the trial to analyze performance,

S = 20 BUCKET ALIGNMENTS) 

UNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

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)

Page 73

ated Scenarios

ET

he test lanes or as embedded scoring tasks in

complete 20 bucket alignments and identify

uccessful when the drone can maintain the

mpletely inscribed ring at the bottom of the

side the ANGLED BUCKETS provide a modest

measure visual and thermal acuity. Identify as

res all alignments and identifications to their

used after the trial to analyze performance,

S = 20 BUCKET ALIGNMENTS) 

AUNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

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)

Perform 5 different flight paths around the dual bucket rails in either scale of test lane. Each flight path includes 

alignments with perpendicular buckets then angled buckets using zoom and exposure control to identify recessed targets. 

• All sequences have 10 positions with 20 buckets to score: 1 2 3 4 – 3 2 1 – 2 3 4 (forward–reverse–forward)

• Score ALIGNMENT POINTS by capturing a SINGLE IMAGE of the inscribed rings to verify alignments during or after the

trial: UNBROKEN RINGS (5 pts), BROKEN RINGS (1 pt).

• Score ACUITY POINTS by identifying and calling out the 5 increasingly small VISUAL ACUITY TARGET GAPS (1 pt each).

• Faults for extreme deviations from the intended flight path or contact with any object ends the trial to ensure safety.

• Timer starts at launch and ends after the last task is completed. Trial time limits are typically set to 5 minutes each (25

minutes to complete all 5 tests) although organizations may set their own trial time limits and passing scores.

VERSION 2020N

• Land or hover just above the ground within proximity to a wall or obstacle with 

additional ground obstacles on both sides. Launch and land repeatedly if necessary to 

score all buckets in the sequence of perch tasks. 

• Inspect vertical and horizontal object features all around the aircraft.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

PERCH

PAY 6

WALL

PAY 7

GROUND

PAY 8

ALLEY

PAY 9

POST

PAY 10

Page 73

ated Scenarios

ET

the test lanes or as embedded scoring tasks in

complete 20 bucket alignments and identify

successful when the drone can maintain the

mpletely inscribed ring at the bottom of the

side the ANGLED BUCKETS provide a modest

measure visual and thermal acuity. Identify as

res all alignments and identifications to their

used after the trial to analyze performance,

S = 20 BUCKET ALIGNMENTS) 

AUNCH – 1 2 3 4 – 3 2 1 - 2 3 4 – LAND

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)

• Fly within proximity to a wall or obstacle at 45 degrees from forward of the aircraft.

• Inspect vertical object features upward and downward.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

• Fly within proximity to a wall or obstacles at 90 degrees from forward of the aircraft.

• Inspect horizontal object features leftward and rightward.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

• Fly within proximity to a post and wall or obstacle and pass between the post and the 

wall.

• Inspect vertical object features upward and downward all around the post.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

• Fly within proximity to a wall or obstacle in front of the aircraft (0 degrees) and 

behind the aircraft (180 degrees).

• Inspect horizontal object features leftward and rightward.

• Complete 10 positions to score up to 50 Alignment points and 50 Acuity points.

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

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)

HOOT HOUSE SCENARIO FABRICATED ROOM TO ROOM SEARCH SCENARIO

2 M (6 FT)

1 M (3 FT)

WALL TEST GROUND, ALLEY, & POST TESTS

est 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

d Scenario: Structure Interior Rooms (South)

Safety | Capabilities | Proficiency

OPEN OBSTRUCTED CONFINED

MIDDLE INDOOR ALTITUDE

1 M (3 FT)

 INDOOR ALTITUDE

2 M (6 FT)

PERCH

0 M (0 FT)

LE INDOOR ALTITUDE

1 M (3 FT)

FABRICATED ROOM TO ROOM SEARCH SCENARIO ALLEY & POST TESTS

3 1

2

4

POST TEST
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

• All sequences have 1–10 positions with 20 alternating white and black buckets to score:

• Score ALIGNMENT POINTS by capturing a SINGLE IMAGE of the inscribed rings to verify alignments during or after the

trial: UNBROKEN RINGS (5 pts), BROKEN RINGS (1 pt).

• Score ACUITY POINTS by identifying and calling out the 5 increasingly small VISUAL ACUITY TARGET GAPS (1 pt each).

• Faults for extreme deviations from the intended flight path or contact with any object ends the trial to ensure safety.

• Timer starts at launch and ends after the last task is completed. Trial time limits are typically set to 5 minutes each (25

minutes to complete all 5 tests) although organizations may set their own trial time limits and passing scores.

VERSION 2020B

Perform the designated flight paths to 

triangulate around dual bucket rails in various 

orientations. Align with perpendicular buckets 

then angled buckets. Use zoom and exposure 

control to identify targets inside the buckets. 

22 

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 

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Version: 2020B12 Page 73

Obstructed Test Lanes and Related Scenarios

CHECKRIDE SCORESHEET

Version: 2020B2

The drone performs a series of maneuvers to align with Dual Bucket Rails in the test lanes or as embedded scoring tasks in

the related scenarios. Each numbered bucket pair is performed in order to complete 20 bucket alignments and identify

recessed targets inside. Alignment with the PERPENDICULAR BUCKETS is successful when the drone can maintain the

designated position, orientation, and altitude long enough to verify a completely inscribed ring at the bottom of the

bucket (5 points), or a partially inscribed ring (1 point). The acuity targets inside the ANGLED BUCKETS provide a modest

work load to perform camera pointing, zooming, and exposure control to measure visual and thermal acuity. Identify as

many Concentric C gap directions as possible (1 point each). The pilot declares all alignments and identifications to their

Proctor for scoring live trials. Video of the trial or captured images can be used after the trial to analyze performance,

however scores may differ due to increased image resolution.

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.

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 orderThe sequence is 1 2 3 4 3 2 1 2 3 4 with 

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

Standard Test Methods for Small Unmanned Aircraft S

ASTM International Standards Committee for Homeland Security Applicatio

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

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee on Homeland Security Applications; 

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

Version: 2020B12 

Obstructed Test Lanes and Related Scenario

CHECKRIDE SCORESHEET

Version: 2020B2

The drone performs a series of maneuvers to align with Dual Bucket Rails in the test lanes or as embedd

the related scenarios. Each numbered bucket pair is performed in order to complete 20 bucket align

recessed targets inside. Alignment with the PERPENDICULAR BUCKETS is successful when the drone 

designated position, orientation, and altitude long enough to verify a completely inscribed ring at 

bucket (5 points), or a partially inscribed ring (1 point). The acuity targets inside the ANGLED BUCKETS 

work load to perform camera pointing, zooming, and exposure control to measure visual and therma

many Concentric C gap directions as possible (1 point each). The pilot declares all alignments and ide

Proctor for scoring live trials. Video of the trial or captured images can be used after the trial to ana

however scores may differ due to increased image resolution.

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 

1 M (3 FT) ELEV

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 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: Ro

POST TEST

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

objects upward and downward. This approximates ins

other obstacles.

Procedure: The procedure is the same for all Obstructed 

designated 1 – 4 that at are performed in a sequence tha

20 total bucket alignments. The sequence includes some 

performed in various directions relative to the obstacles 

conducted in forward then reverse then forward order. T

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 BUC

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 F

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 

Confined Test Lane and Rela

Standard Test Methods for Smal

ASTM International Standards Committee 

Response Robots (E54.09) | Websi

Confined Scenario: Structu

Safety | Capabiliti

OPEN OBSTRU

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

20 

20 

Standard Test Methods for Sm

ASTM International Standards Committ

Response Robots (E54.09) | Web

Set Your Minimum Th

Focus Training and Evaluate 

• Organizations can set their own threshold for pass/fail 

and/or efficiency. Complete trials are assumed.

• Measure everybody repeatedly over time and graph th

weaknesses. Then set minimum thresholds relative to t

organization’s thresholds as a central credentialing refe

• At deployment time, each organization needs to consid

and mission complexity (night ops, BVLOS, etc.) to sele

Example proficiency data shown from 

Confined Vehicle Inspection Scenarios

Day and Night Trials

USE SETS OF 5 “INLINE” DUAL BUCKET RAILS 

DISTRIBUTED THROUGHOUT THE 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

Obstructed Scenario

Bus Exterior

Confined Scenario

Bus Interior

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

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

LEVEL 5 | CONFINED

SCORABLE SCENARIOS

LEVEL 5 | CONFINED SCORABLE SCENARIOS

Perform the designated flight paths to triangulate around dual bucket rails in various orientations. Align

with perpendicular buckets then angled buckets. Use zoom and exposure to identify targets inside the buckets.

• All sequences have 5 apparatuses defining 10 positions with 20 alternating white and black buckets to score.

• Score ALIGNMENT POINTS by capturing a SINGLE IMAGE of the inscribed rings to verify alignments during or after

the trial: UNBROKEN RINGS (5 pts), BROKEN RINGS (1 pt).

• Score ACUITY POINTS by identifying the 5 increasingly small VISUAL ACUITY TARGET GAPS (1 pt each).

• Faults for extreme deviations from the intended flight path or contact with any object ends the trial for safety.

• Timer starts at launch and ends after the last task is completed. Trial time limits are typically set to 15-20 minutes,

although organizations may set their own trial time limits and passing scores.
Test Methods for Evaluating Aerial Drones

Safety | Capabilities | Proficiency

RobotTestMethods.nist.gov

Day and Night Operations

Evaluate using repeatable hovers and orbits

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. 

TEAM ROTATIONS

rd Test Methods for Small Unmanned Aircraft Systems

TM International Standards Committee for Homeland Security Applications;

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

Page 26

t take breaks together because all three roles are essential for safe trials, so 

le to hardware, software, and personal issues that might happen.

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

n ready their aircraft to Pilot the next flight. The Pilot can put their aircraft 

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

)

s)

s)

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

Standard Test Methods for Small Unmanned Aircraft 

ASTM International Standards Committee on Homeland Security Appl

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

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)

Same Lane Supports Other Fli

Open Test Lane

• 7(S

• 6(S

• 5(S

• 2(S

• S a

5 Different Orbits in Every Lane S

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

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

Score (Points)

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