Use thin carbon fibre sheet as canopy/envelope - make it more like a microlight with good thrust to weight ration, forward mounted mid or top of wing motors/props to take advantage of coanda effect and try to protect the prop blades. Improvements here would be lower weight and more manoeuvrable wing/canopy.

Examples: https://carbonflyer.myshopify.com/

Reading: https://en.wikipedia.org/wiki/Coandă_effect