**3. Aerial robot system description**

Multirotor aircraft are mechanical systems that exist in 3D space with six degrees of freedom (DOF) consisting of N rotors. From the aspect of dynamics, they are considered as symmetrical rigid bodies, where the only moving parts are the rotors of the propulsion assembly on whose axes are mounted propellers with a fixed pitch angle. Propellers create aerodynamic forces and moments by their rotation, so it follows that the angular velocities of the rotor are the only variables that have a direct impact on flight dynamics. The development and design of multirotor UAVs depend on constraints in size and energy consumption, and a key parameter in system design is aircraft weight. Given that the multirotor type of UAV is characterized by high energy consumption, it is extremely important to correctly select the components and parameters of the system in order to reduce energy consumption and extend the flight duration. To ensure overall flight performance, it is necessary to determine the thrust-to-weight ratio (TWR), and as a rule, aircraft are designed with approximately twice the thrust of the weight.
