The UAS Indoor Testing facility features a 40 x 20 x 20 ft test area with a 16-camera VICON motion capture system. This facility provides substantial footprint and technology for use in guidance, navigation and control development and testing for autonomous flight and ground vehicles, formation flight, sense and avoid in complex environments, and cooperation between multiple autonomous agents. The ability to perform indoor free flight testing enables research teams to implement and test position estimation on small to medium-sized vehicles within a safe, controlled setting.