To define measures of performance for various aspects pertaining to the on-board sensors for robots applied to emergency response operations. The test methods developed within this working group quantify the performance of different sensors with respect to tasks and operations deemed necessary by end users. Example requirements that inform this working group’s efforts include maneuvering the robot, identifying objects, developing maps for the relevant area, performing detailed inspection, and helping responders develop situational awareness of the spaces they explore with the robot. Hardware and supporting software which senses the environment are within scope. Examples include cameras (color, range), microphones, and mission-specific sensors.