I want to understand if there are any studies around to understand where to place the propellers in an optimal way on a multicopter which will have different frames, inertias and masses (it can have a number of propellers from 4 to 16). As an example, let’s say that I know that I have to design a multicopter with a specific payload capability both in terms of weight and geometry of the payload. What are the best positions of the propellers?
I would like to know if anyone of you knows some scientific articles or just has experience with something like that.
Thanks a lot!