@article{dai2019analytical,
  title={An Analytical Design-Optimization Method for Electric Propulsion Systems of Multicopter UAVs With Desired Hovering Endurance},
  author={Dai, Xunhua and Quan, Quan and Ren, Jinrui and Cai, Kai-Yuan},
  journal={IEEE/ASME Transactions on Mechatronics},
  volume={24},
  number={1},
  pages={228--239},
  year={2019},
  publisher={IEEE},
  doi = {10.1109/TMECH.2019.2890901}
}