A transformable aerial vehicle (100, 200), the vehicle comprising: a central body; at least two transformable frame assemblies, the at least two transformable frame assemblies including a first transformable frame assembly and a second transformable frame assembly respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to transform the at least two transformable frame assemblies between a first configuration and a second configuration; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle (100, 200), wherein at least one propulsion unit of the plurality of propulsion units is mounted on the first transformable frame assembly and at least one other propulsion unit of the plurality of propulsion units is mounted on the second transformable frame assembly, wherein the first configuration includes the propulsion units being positioned above the central body and the second configuration includes the propulsion units being positioned below the central body; characterized in that the at least two transformable frame assemblies each comprise a primary shaft and at least one secondary shaft extending parallel to the primary shaft, the primary shaft and the at least one secondary shaft respectively pivotally coupled to the central body, wherein the primary shaft and the at least one secondary shaft are coupled to each other such that actuation of the primary shaft by the actuation assembly produces a corresponding actuation of the at least one secondary shaft. a central body; at least two transformable frame assemblies, the at least two transformable frame assemblies including a first transformable frame assembly and a second transformable frame assembly respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to transform the at least two transformable frame assemblies between a first configuration and a second configuration; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle (100, 200), wherein at least one propulsion unit of the plurality of propulsion units is mounted on the first transformable frame assembly and at least one other propulsion unit of the plurality of propulsion units is mounted on the second transformable frame assembly, wherein the first configuration includes the propulsion units being positioned above the central body and the second configuration includes the propulsion units being positioned below the central body; characterized in that the at least two transformable frame assemblies each comprise a primary shaft and at least one secondary shaft extending parallel to the primary shaft, the primary shaft and the at least one secondary shaft respectively pivotally coupled to the central body, wherein the primary shaft and the at least one secondary shaft are coupled to each other such that actuation of the primary shaft by the actuation assembly produces a corresponding actuation of the at least one secondary shaft.