An aerial vehicle (100, 200, 300, 400, 500, 600) comprising: a first wing structure (110, 210, 310, 610); a second wing structure (120, 220, 320, 620) which intersects the first wing structure (110, 210, 310, 610) perpendicularly at a position offset from a midpoint of a transverse axis of the first wing structure (110, 210, 310, 610) in a direction towards a first wingtip of the first wing structure (110, 210, 310, 610); a first set of at least two propellers (131, 132, 231, 232, 331, 332, 531, 532, 631, 632) with respective propeller rotational axes disposed side-by-side along a portion of the first wing structure (110, 210, 310, 610) extending between the midpoint of the transverse axis of the first wing structure (110, 210, 310, 610) and a second wingtip of the first wing structure (110, 210, 310, 610); a second set of at least two propellers (141, 142, 241, 242, 341, 342, 541, 542, 641, 642) with respective propeller rotational axes disposed side-by-side along a first portion of the second wing structure (120, 220, 320, 620) extending from a first surface of the first wing structure (110, 210, 310, 610); and a third set of at least two propellers (151, 152, 251, 252, 351, 352, 551, 552, 651, 645) with respective propeller rotational axes disposed side-by-side along a second portion of the second wing structure (120, 220, 320, 620) extending from a second surface of the first wing structure (110, 210, 310, 610); wherein the respective motors of the respective propellers (231, 232, 241, 242, 251, 252) are fixedly installed at differential tilt such that the respective rotational axes are tilted for creating yaw; or wherein the respective propellers (331, 332, 341, 342, 351, 352) are installed with helicopter-type swashplates configured to tilt the respective axes of rotation of the respective propellers (331, 332, 341, 342, 351, 352) for creating yaw. a first wing structure (110, 210, 310, 610); a second wing structure (120, 220, 320, 620) which intersects the first wing structure (110, 210, 310, 610) perpendicularly at a position offset from a midpoint of a transverse axis of the first wing structure (110, 210, 310, 610) in a direction towards a first wingtip of the first wing structure (110, 210, 310, 610); a first set of at least two propellers (131, 132, 231, 232, 331, 332, 531, 532, 631, 632) with respective propeller rotational axes disposed side-by-side along a portion of the first wing structure (110, 210, 310, 610) extending between the midpoint of the transverse axis of the first wing structure (110, 210, 310, 610) and a second wingtip of the first wing structure (110, 210, 310, 610); a second set of at least two propellers (141, 142, 241, 242, 341, 342, 541, 542, 641, 642) with respective propeller rotational axes disposed side-by-side along a first portion of the second wing structure (120, 220, 320, 620) extending from a first surface of the first wing structure (110, 210, 310, 610); and a third set of at least two propellers (151, 152, 251, 252, 351, 352, 551, 552, 651, 645) with respective propeller rotational axes disposed side-by-side along a second portion of the second wing structure (120, 220, 320, 620) extending from a second surface of the first wing structure (110, 210, 310, 610); wherein the respective motors of the respective propellers (231, 232, 241, 242, 251, 252) are fixedly installed at differential tilt such that the respective rotational axes are tilted for creating yaw; or wherein the respective propellers (331, 332, 341, 342, 351, 352) are installed with helicopter-type swashplates configured to tilt the respective axes of rotation of the respective propellers (331, 332, 341, 342, 351, 352) for creating yaw.