Devices, methods, and systems of various embodiments are disclosed including an unmanned aerial vehicle (UAV) having a hybrid rotor drive system. The UAV may include a frame, a primary rotor, a plurality of auxiliary rotors, a battery, and a processor coupled to the battery and the auxiliary rotors. The primary rotor may be configured to generate thrust with a downwash of air. The plurality of auxiliary rotors may each be at least partially disposed in the downwash of air generated by the primary rotor. The plurality of auxiliary rotors may be configured to be able to harvest energy from the downwash of air. The battery may be configured to store at least some of the energy harvested from the downwash of air by the plurality of auxiliary rotors. The processor may be configured with processor-executable instructions to utilize the plurality of auxiliary rotors to provide flight control for the UAV.