Table 3.

MBCAP-e flight time overhead (min:s). Simulation vs. real testbed.

Scenario	UAV	Simulation			Real testbed
		on	off	$\mathsf{\Delta }$t	on	off	$\mathsf{\Delta }$t
1	1: quadcopter	3:53	3:25	0:28	3:56	3:21	0:35
	2: hexacopter	3:10	2:53	0:17	3:15	2:59	0:16
2	1: quadcopter	4:10	3:38	0:32	4:12	3:36	0:36
	2: hexacopter	3:57	3:33	0:24	4:08	3:43	0:25
3	1: quadcopter	3:39	2:56	0:43	3:39	2:56	0:43
	2: hexacopter	3:20	2:56	0:24	3:18	2:59	0:19
4	1: quadcopter	3:30	3:04	0:26	3:29	3:03	0:26
	2: hexacopter	3:20	3:02	0:18	3:29	3:03	0:26
5	1: quadcopter	3:31	2:54	0:37	3:49	2:55	0:54
	2: hexacopter	3:14	2:58	0:16	3:23	2:59	0:24