Micro- and Nano-Air Vehicles: State of the Art

Table 2

Selection criteria of different rotary AVS typologies [27] (1: bad, 10: very good).

Selection criteria	Conventional (a)	Ducted coaxial (b)	Coaxial (c)
Compactness of folding	1	2	10
Reliability	9	10	8
Controllability	5	5	7
Aerodynamic cleanliness	8	2	8
Maturity of technology	10	8	10
Hover efficiency	10	8	8
Aerodynamic interaction	7	7	7
Vibration	1	2	1
Cruise efficiency	7	6	8
Maneuverability	5	3	3
Ease of payload packaging	10	8	10
Simplicity of structure	8	8	10
Simplicity of control system	6	6	6
Selection criteria	Side by side (d)	Tandem (f)	Quad-rotor (g)
Compactness of folding	2	2	8
Reliability	8	8	9
Controllability	5	5	10
Aerodynamic cleanliness	6	6	2
Maturity of technology	9	10	5
Hover efficiency	10	10	8
Aerodynamic interaction	10	10	7
Vibration	2	2	2
Cruise efficiency	6	6	5
Maneuverability	4	4	9
Ease of payload packaging	10	10	8
Simplicity of structure	8	8	7
Simplicity of control system	6	6	10