Data and tools for the autonomous rotorcraft guidance benchmarking framework. The elements of the framework consist of a set of spatial geometries, flight tasks, performance metrics, a flightdynamic model and baseline solutions. The spatial benchmarks consist of six tasks in
simple geometrical environments and ten tasks in more complex urban environments based on a real digital terrain elevation map. The performance baselines used in the proposed framework are near-optimal solutions computed using one of two trajectory optimization methods: numerical optimization basedon Nonlinear Programming for the simple geometric environments, and a Motion Primitive Automaton for problems involving the urban environments. The framework also includes a set of performance metrics used to compare trajectories.