Website

RobotTestMethods.nist.gov

Email

RobotTestMethods@nist.gov

Version 2023C

Pocket Guide for Aerial Drones

Open & Obstructed Tests 

and Scorable Scenarios

Proctor Guide

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

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 6

Open Test Lanes

Example

DroneResponders Fly-In at Mercedes-Benz Stadium 

NFL Atlanta Falcons

During AUVSI Xponential 2021

DroneResponders Fly-In at Mercedes-Benz Stadium 

Home of the NFL Atlanta Falcons 

During AUVSI Xponential 2021

Standard Test Methods for Small Unmanned Aircr

ASTM International Standards Committee on Homeland Security 

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

Structure exterior inspection tasks include looking through windows and do

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

structure. The objective was to safely fly in close proximity of about 2 m (6 f

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

 

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

scenario.

VERTICAL

H

ALIGNMENT TASKS IN 

WINDOW/DOORS

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

) f f

WHITE BUCKET ALIGNMENTS

BLACK BUCKET ALIGNMENTS

HORIZONTAL VERTICAL

(Indoor or Outdoor)

y

(Available)(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)

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

Line of Sight FACING LANEInstruments Only

BACK TURNED

Open Area Tests and Scorable Scenarios

Obstructed Tests and Scorable Scenarios

Teams with Proctor, Pilot & Visual Observer
Open Area Tests and Scorable Scenarios

Evaluate safety, capabilities, and proficiency

Obstructed Tests and Scorable Scenarios

Evaluate safety, capabilities, and proficiency

Page 2

participate in each test and scenario objective for three trials to practice roles as Pilot, Visual 

Observer, and Proctor.

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

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.

48

Scalable Test Lanes for Various Sizes of Aircraft

Project Overview

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

• 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

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 TEST LANES (ALTITUDE = SPACING)

Page 4 11/9/21

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

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

Open Test Lane and Related Operational Scenarios 

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).

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

Scoring Payload Functionality Trials

Payload Functionality Trials with Pilot Back Turned

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

BVLOS

BACK TURNED

Line of Sight FACING LANE OR

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:

DAYLIGHT / LOS 

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

DATE/TIME

PILOT CODE

(4) OMNI STANDS

Standard Test Methods for Small Unmanned Aircraft Systems

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. 

The Obstructed Test Lanes and related scenarios enable 

remote pilots to fly safe and repeatable flight paths to 

inspect objects from close proximity.

Day and Night Operations

Evaluate using repeatable hovers and orbits

WHITE BUCKETS

ILLUMINATED WITH 

RED HEADLAMPS

WHITE BUCKETS STANDS

ILLUMINATED WITH 

RED HEADLAMPS

ALTERNATING BLACK BUCKET

STANDS LEFT DARK

1

2

3

FLIGHT LINE

4

10FT 10FT 10FT 10FT

50FT

ALTITUDE 2(S)

START | END

ALTITUDE S

ALTITUDE 7(S)

ALTITUDE 5(S)

ALTITUDE 6(S)

7(S)

6(S)

5(S)

2(S)

Same Lane Supports Other 

Open Test Lane

• 

• 

• 

• 

• 

5 Different Orbits in Every Lan

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

DATE/TIME

PILOT CODE

48IN SQUARE LANDING WITH

12IN CENTER RADIUS TARGET

100-300 FT MEASURING TAPE

(4) OMNI STANDS

1–4

TOP

FRONT 1A

LEFT 1B 1C BACK

1D RIGHT “A” BUCKET

ALWAYS POINTING 

TOWARD THE 

LAUNCH/LAND

PLATFORM

HANDLE

CENTERLINE

LAUNCH / LAND PLATFORM

DIGITAL CLOCK

DATE & TIME

WHITEBOARD INFO

PILOT & AIRCRAFT

(4) OMNI 

BUCKET STANDS

CENTERLINE 

MEASURING TAPE

OBSTRUCTED WALL TEST OBSTRUCTED POST TEST
POSITION

MAN/PAY 1

TRAVERSE

MAN/PAY 2

ORBIT

MAN/PAY 3

INSPECT

MAN/PAY 4

RECON

MAN/PAY 5

Paths

ude

ude 

ude 

ude 

e 

g

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

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

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

Open Area Test Lanes

Day and Night Trials

ALTITUDE 2(S)

ALTITUDE S

ALTITUDE S

ALTITUDE 2(S)

ALTITUDE (S)

ALTITUDE 1⁄2(S)

ALTITUDE S

Open Search/Identify Scenarios

Day and Night Trials

Page 8

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

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 s

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

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 

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 aircr

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

Open Area Search Scenario

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

VEHICLE INSPECTION DHS Responder Familiarization Exercise

OPEN / SUNNY

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

OPEN / SUNNY

CONFINED

WIDE AREA SEARCH BUILDING EXTERIOR SEARCH

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

21

Page 7 

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

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 

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 wit

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 alignment

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 completenes

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

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 em

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

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

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 proficie

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 COLL

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

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

 

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

stands for the Payload Functionality variant of the te

a single Proctor helping teams of pilots and their visu

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

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 

pilots. Time limited trials also enable direct comparis

scores using similar aircraft and trial times are directl

of different aircraft can be used to compare overall s

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

S

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

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

A

B C

D

INSPECT 

< 50 FT

ALTITUDE AND RADIUS

OVERWATCH 

< 200 FT

ALTITUDE AND RADIUS C

D

B

A

CENTER

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

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 

ASTM Interna

Respon

Fi16) A l k i

CONCURRENT OBJECTIVES

FOR 3 TEAMS TO FLY

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

ALTITUDE S & 2S

3D
Obstructed Test Lanes

Day and Night Trials

PERCH

PAY 6

WALL

PAY 7

GROUND

PAY 8

ALLEY

PAY 9

POST

PAY 10

TIONS = 20 BUCKET ALIGNMENTS) 

LAUNCH – 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)

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

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

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

-3 m (6-10 ft) proximity of a wall or obstacle at 45

the aircraft while inspecting vertical object features

 8)

-3 m (6-10 ft) proximity of a wall or obstacle at 90

the aircraft while inspecting horizontal object features

3 m (6-10 ft) proximity of a wall or obstacle in front of

nd behind the aircraft (180 degrees) while inspecting

leftward and rightward.

3 m (6-10 ft) proximity of a post and wall or obstacle

al object features upward and downward. While

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

t) apart.

within 2-3 m (6-10 ft) from a wall or obstacle in front

nd obstacles on both sides. While perched the drone

izontal object features upward, downward, leftward

ding measures the field of view of the drone while

ndependent pan-tilt-zoom camera. The drone may

ly to score allbuckets if necessary.

WALL | FENCE | OBSTACLE

TOP VIEW

1

3 4

2

3 2 4

1

FLOOR

WALL | FENCE | OBSTACLE

TOP VIEW

34 2

1 1

3

4

2

LOWER BUCKETS AT LEAST

1 M (3 FT) ELEVATION

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1

3

4

2

1 3

4

2

4 M (12 FT)

WALL | FENCE | OBSTACLE

TOP VIEW

4 M (12 FT)

6 M (20 FT)

1 4 2 3

4 3

1 2

4 M (12 FT)

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

TOP VIEW

1

2 3

4

1

2 4

3

4 M (12 FT)

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

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

POST TEST

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

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

other obstacles.

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

TOP VIEW

1

2 3

4

1

2 4

3

4 M (12 FT)

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

Page 19 

 

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

scenario.

Figure 27) The scenario façade was embedded with window inspection task

collapsed walls. Each Dual Bucket Alignment guides the remote pilot to pos

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

H

Page 16 11/9/21

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

 

Figure 32) A floating omni bucket task was pulled through the water by a remotely controlled rescue device

to represent floating or swimming victims. It provided a moving object for the drone to identify on all sides.

 

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

Obstructed Inspection Scenarios

Day and Night Trials

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.

ALIGNED DRONE LOOKING 

VERTICAL

HORIZONTAL

ALIGNMENT TASKS IN 

WINDOW/DOORS

Standard Test Methods for Small 

ASTM International Standards Committee 

Response Robots (E54.09) | Website

Structure exterior inspection tasks include looking through 

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

structure. The objective was to safely fly in close proximity 

to perform a window/door clearing maneuver with high/lo

 

Figure 26) Obstructed apparatuses are set up in sets of vert

scenario.

ALIGNMENT TASKS IN 

WINDOW/DOORS

Standard Test 

ASTM Internation

Response R

 

Figure 32) A floating omni bucket task w

to represent floating or swimming victi

Figure 33) The flashflood bridge collaps

PERCH

WHITE BUCKET ALIGNMENTS BLACK BUCKET ALIGNMENTS
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

Page 26

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

ware, software, and personal issues that might happen.

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

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

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

PILOT PROCTOR VO

Visual Observer 

Pilot

Proctor

3 PERSON TEAM ROTATION

ON DECK

GET DRONE READY TO FLY

VO PILOT

FACING AWAY FROM

THE TEST LANE

PROCTOR

Group A 5 teams with 3-4 pilots each. Distribute aircraft 

with lights and thermal cameras across teams.

Group B 5 teams with 3-4 pilots each. Distribute aircraft 

with lights and thermal cameras across teams.

A11 A22 A33 A44 A55

B11 B22 B33 B44 B55

Groups of Teams Switch at Halftime

Open lane teams don’t move. Obstructed lane 

teams need to move at the same time.
Groups Switch Lanes at Halftime

2-1/2 hour time periods at Open and Obstructed

1

2

3

4

5

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

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

18 m (60 ft) Between Each Lane

3 m (10 ft)

3 m (10 ft)

3 m (10 ft)

3 m (10 ft)

3 m (10 ft)

5 Open Test Lanes

1 2 3 4 5

TEAMS FLY NEXT TEST EVERY 20 MINUTES

1 2 3 4 5

PERCH

(PAY 6)

WALL

(PAY 7)

GROUND

(PAY 8)

ALLEY

(PAY 9)

POST

(PAY 10)

11 of 7

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

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

and Wear Face Coverings Maintain Physical Distancing

ings when working alone outdoors, except when others are cover uired to wear face are not req articipants P

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

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

Surfaces Disinfect and en Oft s Hand ash W

should also r the event. They washing station set up fo - hands at the outdoor hand their wash will articipants P

after. before initial use and disinfect commonly touched surfaces 

and Other Gatherings Safety Briefings

. wearing istancing and mask ysical d with ph pavilion ing in the outdoor will be conducted each morn s iefing Safety br

. s sk and ma cing should include physical distan ople on the site of pe gathering ny A

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

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

Pilot Stations:

to provide which is 3 m (10 ft) square t cenario distributed across the site will have an EZ Up ten s ane and l est t Each 

. Z Up re will be no more than four people at any single E shade as a pilot station. The

(6 ft) remain at least 2 m includes a Pilot, Proctor, and Videographer. All will y typicall tation pilot s Each Figure 2: 

apart.

3 m (10 ft)

3 m (10 ft)

LANE or SCENARIO TEST

PILOT PROCTOR VIDEOGRAPHER

PILOTS 11 of 7

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

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

and Wear Face Coverings Maintain Physical Distancing

ings when working alone outdoors, except when others are cover uired to wear face are not req articipants P

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

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

Surfaces Disinfect and en Oft s Hand ash W

should also r the event. They washing station set up fo - hands at the outdoor hand their wash will articipants P

after. before initial use and disinfect commonly touched surfaces 

and Other Gatherings Safety Briefings

. wearing istancing and mask ysical d with ph pavilion ing in the outdoor will be conducted each morn s iefing Safety br

. s sk and ma cing should include physical distan ople on the site of pe gathering ny A

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

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

Pilot Stations:

to provide which is 3 m (10 ft) square t cenario distributed across the site will have an EZ Up ten s ane and l est t Each 

. Z Up re will be no more than four people at any single E shade as a pilot station. The

(6 ft) remain at least 2 m includes a Pilot, Proctor, and Videographer. All will y typicall tation pilot s Each Figure 2: 

apart.

3 m (10 ft)

3 m (10 ft)

LANE or SCENARIO TEST

PILOT PROCTOR VIDEOGRAPHER

PILOTS

1

2

3

4

5

TEAMS MOVE EVERY 20 MINUTES

5 Obstructed Test Lanes

A1 A2 A3 A4 A5

B1 B2 B3 B4 B5

Day 1: Familiarization in Test Lanes

Day and Night

Familiarization flights in OPEN and OBSTRUCTED 

TEST LANES. Practice flying interface-only with a 

visual observer. Day and night operations.

1 HR Pre-Flight Briefings

- Review Open and Obstructed test lanes

- Review Payload Functionality scoring

- Review Interface Only pilot view (like BVLOS)

- Flight safety briefing from facility representative

- Break into 4-person teams with Proctor codes

3 HR Day Flights in TEST LANES (90 min. each side)

3 minute trials x all 5 tests = <20 minutes per pilot 

GROUP A in OPEN | GROUP B in OBSTRUCTED

Switch Groups A & B 

GROUP A in OBSTRUCTED | GROUP B in OPEN

1 HR Meal/Briefing (Then Sunset or Lights Out)

2 HR Night Flights in TEST LANES (60 min. each side)

3 minute trials x all 5 tests = <20 minutes per pilot 

GROUP A in OPEN | GROUP B in OBSTRUCTED

Switch Groups A & B 

GROUP A in OBSTRUCTED | GROUP B in OPEN

1 HR After-Action Briefing 
PERCH

WHITE BUCKET ALIGNMENTS BLACK BUCKET ALIGNMENTS

Groups Switch Lanes at Halftime

2-1/2 hour time periods at Open and Obstructed

Version 2022A

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

Local Venue

There are at least 3 sequential objectives to fly in 5 minute rotations 

to gain familiarity (15 minute flights within a 20 minute time limit). 

Teams walk around the scenario to maintain visual line of sight with 

their aircraft. The scenario restarts for another 20 minutes with 

different roles for Pilot-Proctor-VO. Up to three teams can fly 

simultaneously from three launch/land locations.

All omni bucket stands (re-purposed from the Open test lane) are 

located near objects of interest in the environment. They should be 

used in sets of 4 to add up to 100 points total.

All omni stands should be free from nearby obstructions at the 

designated altitude(s).

Each designated orbit altitude and radius can be based on the 

number in the top bucket of the omni stand. For example, 1 = 10 ft, 

2 = 20 ft, 3 = 30 ft, 4 = 40 ft (good for practicing auto-orbits).

SEQUENCE DOWN RANGE

RETURN OVER ROAD

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

ALIGNED DRONE LOOKING 

THROUGH THE WINDOW

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 missio

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 Inspection

Safety | Capabilities | Proficiency

VEHCLE INSPECTION

OBJECT INSPECTION

STRUCTURE INSPECTION STRUCTURE INSPECTION

DUAL BUCKET ALIGNME

PILOTS INTO SAFE PO

WITHIN PROXIMITY TO 

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

Select Trial Settings 

Focus Training and Ev

1) Select the test lane and scenarios based 

on the intended environment and aircraft: 

– Open, Obstructed, or Indoor

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

(4) OMNI STANDS

OPEN SCENARIOS

OBSTRUCTED SCENARIOS

Day 2: Familiarization in Scenarios

Day and Night

Familiarization flights in OPEN and OBSTRUCTED 

SCENARIOS. Practice flying interface-only with a 

visual observer. Day and night operations.

1 HR Pre-Flight Briefings

- Review previous day, issues, questions

- Introduce flight plan for the day

- Flight safety briefing from facility representative

3 HR Day Flights in SCENARIOS (90 min. each side)

GROUP A in OPEN | GROUP B in OBSTRUCTED

1730 – 1745 Switch Groups A & B 

GROUP A in OBSTRUCTED | GROUP B in OPEN

1 HR Meal/Briefing (Then Sunset or Lights Out)

2 HR Night Flights in SCENARIOS (60 min. each side)

GROUP A in OPEN | GROUP B in OBSTRUCTED

2130 – 2145 Switch Groups A & B 

GROUP A in OBSTRUCTED | GROUP B in OPEN

1 HR After-Action Briefing 
Groups Switch Lanes at Halftime

2-1/2 hour time periods at Open and Obstructed

1

2

3

4

5

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

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

18 m (60 ft) Between Each Lane

3 m (10 ft)

3 m (10 ft)

3 m (10 ft)

3 m (10 ft)

3 m (10 ft)

5 Open Test Lanes

1 2 3 4 5

TEAMS FLY NEXT TEST EVERY 20 MINUTES

1 2 3 4 5

PERCH

(PAY 6)

WALL

(PAY 7)

GROUND

(PAY 8)

ALLEY

(PAY 9)

POST

(PAY 10)

11 of 7

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

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

and Wear Face Coverings Maintain Physical Distancing

ings when working alone outdoors, except when others are cover uired to wear face are not req articipants P

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

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

Surfaces Disinfect and en Oft s Hand ash W

should also r the event. They washing station set up fo - hands at the outdoor hand their wash will articipants P

after. before initial use and disinfect commonly touched surfaces 

and Other Gatherings Safety Briefings

. wearing istancing and mask ysical d with ph pavilion ing in the outdoor will be conducted each morn s iefing Safety br

. s sk and ma cing should include physical distan ople on the site of pe gathering ny A

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

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

Pilot Stations:

to provide which is 3 m (10 ft) square t cenario distributed across the site will have an EZ Up ten s ane and l est t Each 

. Z Up re will be no more than four people at any single E shade as a pilot station. The

(6 ft) remain at least 2 m includes a Pilot, Proctor, and Videographer. All will y typicall tation pilot s Each Figure 2: 

apart.

3 m (10 ft)

3 m (10 ft)

LANE or SCENARIO TEST

PILOT PROCTOR VIDEOGRAPHER

PILOTS 11 of 7

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

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

and Wear Face Coverings Maintain Physical Distancing

ings when working alone outdoors, except when others are cover uired to wear face are not req articipants P

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

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

Surfaces Disinfect and en Oft s Hand ash W

should also r the event. They washing station set up fo - hands at the outdoor hand their wash will articipants P

after. before initial use and disinfect commonly touched surfaces 

and Other Gatherings Safety Briefings

. wearing istancing and mask ysical d with ph pavilion ing in the outdoor will be conducted each morn s iefing Safety br

. s sk and ma cing should include physical distan ople on the site of pe gathering ny A

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

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

Pilot Stations:

to provide which is 3 m (10 ft) square t cenario distributed across the site will have an EZ Up ten s ane and l est t Each 

. Z Up re will be no more than four people at any single E shade as a pilot station. The

(6 ft) remain at least 2 m includes a Pilot, Proctor, and Videographer. All will y typicall tation pilot s Each Figure 2: 

apart.

3 m (10 ft)

3 m (10 ft)

LANE or SCENARIO TEST

PILOT PROCTOR VIDEOGRAPHER

PILOTS

1

2

3

4

5

TEAMS MOVE EVERY 20 MINUTES

5 Obstructed Test Lanes

A1 A2 A3 A4 A5

B1 B2 B3 B4 B5

Day 3: Scoring Trials in Test Lanes

Simulated Daytime Training/Evaluation

Simulated training/evaluation day with captured 

trial scores using all 5 Open Test Lane flight paths 

and all 5 Obstructed Test Lane flight paths. 

1 HR Final Quiz

- Review any questions/issues

- Conduct online quiz then discuss answers

- Flight safety briefing from facility representative

3 HR Scoring Trials in TEST LANES

GROUP A in OPEN | GROUP B in OBSTRUCTED

5 minute trials x all 5 tests = <30 minutes per pilot

Hand in forms and online Proctor Attestations

1 HR Meal/Briefing 

3 HR Scoring Trials in TEST LANES

GROUP A in OBSTRUCTED | GROUP B in OPEN

5 minute trials x all 5 tests = <30 minutes per pilot

Hand in forms and online Proctor Attestations

1⁄2 HR After Action Briefing and Survey