Table 5.

Multi-rotor structure parameters.

Parameters	Empirical Relation	Values
Required motor speed (N)	$\sqrt{\frac{L_m\times {10}^{10}}{p\times d^3\times 0.0283495\times g}}$	4200 rpm
Thrust per motor (T)	$p\times d^3\times N^2\times {10}^{-10}\times 0.0283495\times g$	92 N
Lift required for the multicopter (Lm)	$2\times \mathrm{W}$	540 N

L_m—multicopter lift required; p—propeller pitch; d—propeller diameter; g—acceleration due to gravity.