Hexacopter

I’m planning on building a hexacopter with an Arduino Edison kit. The only problem is that I don’t know how to connect speed controllers (esc) to a shield. The reason I want to attach it to a shield is because I want to be able to add more sensors hopefully intel real sense to it later on. How should I connect my hexacopter to an Arduino Edison kit with shields because I’m not the best at hardware. Thanks.