This article has coverd a great detail...
Just a little addition, The pullup resistor value can not be reduced after a lmit which is decided by one of the two factors. 1) The least value of maximum allowed power dissipation among all the ICs on Bus which again depends on thermal limitations of the IC.
2) Least value of Maximum allowed current through the I2C terminals among all the ICs on bus.
Drones are, in essence, flying autonomous vehicles. Pros and cons surrounding drones today might well foreshadow the debate over the development of self-driving cars. In the context of a strongly regulated aviation industry, "self-flying" drones pose a fresh challenge. How safe is it to fly drones in different environments? Should drones be required for visual line of sight – as are piloted airplanes? Join EE Times' Junko Yoshida as she moderates a panel of drone experts.