Table 3: Flying principle comparison focused on ability to miniaturization [14] (1: bad, 2: medium, 3: good).

FixedRotaryBirdBlimp

Power cost2113
Control cost2113
Payload3221
Maneuverability2331
DOF1331
Stationary fly1323
Low-speed fly1323
Vulnerability2232
VTOL1323
Endurance2123
Miniaturization2332
Indoor usage1322

Total20282626