  This report reviews all results derived from performance benchmarking
conducted during Phase I of the Development and Execution of Comprehensive and
Integrated Subterranean Intelligent Vehicle Evaluations (DECISIVE) project by
the University of Massachusetts Lowell, using the test methods specified in the
DECISIVE Test Methods Handbook v1.1 for evaluating small unmanned aerial
systems (sUAS) performance in subterranean and constrained indoor environments,
spanning communications, field readiness, interface, obstacle avoidance,
navigation, mapping, autonomy, trust, and situation awareness. Using those 20
test methods, over 230 tests were conducted across 8 sUAS platforms: Cleo
Robotics Dronut X1P (P = prototype), FLIR Black Hornet PRS, Flyability Elios 2
GOV, Lumenier Nighthawk V3, Parrot ANAFI USA GOV, Skydio X2D, Teal Golden
Eagle, and Vantage Robotics Vesper. Best in class criteria is specified for
each applicable test method and the sUAS that match this criteria are named for
each test method, including a high-level executive summary of their
performance.
