Micro Air Vehicles (MAVs) operate with many inter-related constraints, including size, weight, power, processing, and
communications bandwidth. Basic equations can be used to provide initial estimates of subsystem parameters that are
consistent with the targeted size and related parameters. For most current MAVs, the power source of choice is
batteries, and the choice of battery type and size will determine the maximum duration of a flight. In this study, first
order models for both rotary wing MAVs and crawling ground platforms are used to determine the optimum battery size
for maximum endurance, given typical parameter values for a 15-cm scale robotic platform. Results indicate that most
micro robotic platforms use battery sizes significantly different than optimum.