Multicopters are among the most versatile mobile robots. Their applications range from inspection and mapping tasks to providing vital reconnaissance in disaster zones and to package delivery. The range, endurance, and speed a multirotor vehicle can achieve while performing its task is a decisive factor not only for vehicle design and mission planning, but also for policy makers deciding on the rules and regulations for aerial robots. To the best of the authors' knowledge, this work proposes the first approach to estimate the range, endurance, and optimal flight speed for a wide variety of multicopters. This advance is made possible by combining a state-of-the-art first-principles aerodynamic multicopter model based on blade-element-momentum theory with an electric-motor model and a graybox battery model. This model predicts the cell voltage with only 1.3% relative error (43.1 mV), even if the battery is subjected to non-constant discharge rates. Our approach is validated with real-world experiments on a test bench as well as with flights at speeds up to 65 km/h in one of the world's largest motion-capture systems. We also present an accurate pen-and-paper algorithm to estimate the range, endurance and optimal speed of multicopters to help future researchers build drones with maximal range and endurance, ensuring that future multirotor vehicles are even more versatile.

翻译：多功能机器人属于最多功能的移动机器人。 其应用范围从检查和绘图任务到在灾害区提供至关重要的侦察和包装交付。 多机器人在执行任务时能够达到的射程、耐力和速度不仅是车辆设计和飞行任务规划的决定性因素,而且对于决定航空机器人规则和条例的决策者来说也是决定性因素。 根据作者所知, 这项工作提出了第一个方法来估计范围、 耐力和各种多功能机器人的最佳飞行速度。 之所以能够取得这一进展,是因为根据刀片- 电动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 理论和灰色箱 电池模型, 将多功能- 多功能- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 运动- 机程- 未来最精准- 机程- 机程- 机程, 我们的方法在测试台上进行真实的实验, 和现实- 机型多功能- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 和机程- 机程- 机程- 机程- 机程- 机程- 和机程- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 机程- 和机程- 机程- 机程- 机程- 机程- 机程-