| $ {r}_{\text{UAV}} $/m | 1.0 | | $ {n}_{\text{dyn}} $ | 2 | | $ {W}_{\text{AC}} $ | 0.5 | | $ {W}_{\text{cbf}} $ | 0.3 |
| $ {r}_{\mathrm{g}} $/m | 3.0 | | $ {W}_{\mathrm{g}} $ | 200 | | $ \Delta t $/s | 0.1 | | $ {W}_{0} $ | 0.3 |
| $ {r}_{\min } $/m | 2 | | $ {W}_{\text{dir}} $ | 1.8 | | $ {d}_{\text{fa}\mathrm{r}} $/m | 70 | | $ {\alpha }_{\tan } $ | 0.8 |
| $ {r}_{\max } $/m | 6 | | $ {W}_{\text{col}} $ | 20 | | $ {d}_{\text{nar}} $/m | 25 | | $ {d}_{\text{bnd}} $/m | 0.8 |
| $ {r}_{\text{sen}} $/m | 10 | | $ {W}_{\text{bnd}} $ | 20 | | $ \alpha $ | 0.8 | | $ {\lambda }_{\text{smo}} $ | 0.3 |
| $ {v}_{\max } $/(m·s−1) | 5.0 | | $ {W}_{\text{sta}} $ | 1.0 | | $ {\beta }_{\text{DWA}} $ | 1.2 | | $ {C}_{\text{stp}} $ | 2 |
| $ {\omega }_{\max } $/(rad·s−1) | $ \text{π} /2 $ | | $ {W}_{\text{dyn}} $ | 2.0 | | $ \gamma $ | 0.15 | | $ {C}_{\text{ep}} $ | 15 |
| $ {v}_{\mathrm{o}1} $/(m·s−1) | 1.0 | | $ {W}_{\text{dev}} $ | 1.5 | | $ \delta $ | 0.02 | | $ {\alpha }_{\text{stp}} $ | 0.008 |
| $ {v}_{\mathrm{o}2} $/(m·s−1) | 2.5 | | $ {W}_{\text{spd}} $ | 1.2 | | $ \varepsilon $ | 0.6 | | $ {\alpha }_{\text{ep}} $ | 0.01 |
| $ {\theta }_{\text{fov}} $/(°) | 120 | | $ {W}_{\text{eng}} $ | 1.8 | | $ {d}_{\text{TH}} $/m | 20 | | $ {\beta }_{\text{PDO}} $ | 0.85 |
| $ {N}_{\max } $ | 8 | | $ {W}_{\text{tim}} $ | 0.3 | | $ {v}_{\text{TH}} $/(m·s−1) | 0.3 | | $ {\lambda }_{\max } $ | 20 |
| $ {n}_{\text{sta}} $ | 6 | | $ {W}_{\text{DWA}} $ | 1.5 | | $ {t}_{\text{TH}} $/s | 6 | | $ {D}_{\mathrm{s}} $/m | 3 |