The purpose of this paper is to describe the design and validation of a dynamic signal detection-based task experienced within immersive virtual reality (IVR). The task will be used as a primary task for investigating the workload introduced by interface devices used for human-robot team communications. Participants play the role of a Soldier performing a Cordon and Search operation monitoring an environment for threats. The task differs from traditional signal detection tasks in that it is continuous, dynamic, and signal stimuli move through participants’ field of view. Implementation of the task within simulation allows for direct control, measurement, and manipulation of multiple parameters that influence performance metrics, task difficulty, and participant workload. Lessons learned during the design and development of the task are shared to guide other researchers intending to implement a signal detection-based task within IVR.