An aerial vehicle apparatus, comprising: a central portion; six arms extending radially from the central portion; a first maneuverability propulsion mechanism and a sixth maneuverability propulsion mechanism partially oriented toward one another to form a first pair; a second maneuverability propulsion mechanism and a third maneuverability propulsion mechanism partially oriented toward one another to form a second pair; a fourth maneuverability propulsion mechanism and a fifth maneuverability propulsion mechanism partially oriented toward one another to form a third pair; wherein each of the maneuverability propulsion mechanisms is coupled to an end of a respective one of the six arms; and wherein each of the maneuverability propulsion mechanisms is oriented at an angle with respect to a vertical alignment; the aerial vehicle apparatus further comprising: a propulsion mechanism controller configured to at least: send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the third maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, the fifth maneuverability propulsion mechanism, and the sixth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of six degrees of freedom; detect a failure of the sixth maneuverability propulsion mechanism; and in response to detecting the failure send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, and the fifth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of four degrees of freedom. a central portion; six arms extending radially from the central portion; a first maneuverability propulsion mechanism and a sixth maneuverability propulsion mechanism partially oriented toward one another to form a first pair; a second maneuverability propulsion mechanism and a third maneuverability propulsion mechanism partially oriented toward one another to form a second pair; a fourth maneuverability propulsion mechanism and a fifth maneuverability propulsion mechanism partially oriented toward one another to form a third pair; wherein each of the maneuverability propulsion mechanisms is coupled to an end of a respective one of the six arms; and wherein each of the maneuverability propulsion mechanisms is oriented at an angle with respect to a vertical alignment; the aerial vehicle apparatus further comprising: a propulsion mechanism controller configured to at least: send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the third maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, the fifth maneuverability propulsion mechanism, and the sixth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of six degrees of freedom; detect a failure of the sixth maneuverability propulsion mechanism; and in response to detecting the failure send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, and the fifth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of four degrees of freedom. send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the third maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, the fifth maneuverability propulsion mechanism, and the sixth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of six degrees of freedom; detect a failure of the sixth maneuverability propulsion mechanism; and in response to detecting the failure send commands to each of the first maneuverability propulsion mechanism, the second maneuverability propulsion mechanism, the fourth maneuverability propulsion mechanism, and the fifth maneuverability propulsion mechanism to generate respective forces such that the aerial vehicle apparatus can aerially navigate in any of four degrees of freedom.