  In this letter, we present a model for quadrotor unmanned aerial vehicles
(UAVs), including control, communication, and wireless charging. In so doing,
we investigate associated energy and battery dynamics. Indeed, energy and
battery expressions are derived by leveraging motors' and battery electrical
models. Through an experiment, their performances are evaluated for different
parameters. The objective is to provide a simple yet practical model of
quadrotor UAV consumed/harvested energy and battery dynamics for researchers
conducting work on energy-efficient aerial networks.
