The transfer of heat energy through empty space is called radiation. All objects radiate energy at a rate equal to their emissivity multiplied by the rate at which energy would radiate from them if they were a black body. For radiation to occur there is no requirement of medium, it works even through a perfect vaccum as for example energy from sun.
This law states that heat transfer rate is proportional to temperature difference and area of surface of heat transfer:
q = hA(To− Tenv)
A - Surface area of heat transfer
To - temperature of object's surface
Tenv - temperature of environment
h - Heat transfer coefficient
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