A multi-rotor Aerial Vehicle comprising: a frame having at least five arms (104-1, 104-2, 104-3, 104-4, 104-5); pairs of contra rotating coaxial rotors/propellers (P1-1 and P1-2, P2-1 and P2-2, P3-1 and P3-2, P4-1 and P4-2, and P5-1 and P5-2) configured on each arm (104-1, 104-2, 104-3, 104-4, 104-5) of the frame ; and a control system incorporating an autopilot configured to control operation of the pairs of contra rotating coaxial rotors/propellers (P1-1 and PI -2, P2-1 and P2-2, P3-1 and P3-2, P4-1 and P4-2, and P5-1 and P5-2) to maintain stability of the Aerial Vehicle; wherein the pairs of contra rotating coaxial rotors/propellers (P1-1 and PI-2, P2-1 and P2-2, P3-1 and P3-2, P4-1 and P4-2, and P5-1 and P5-2) are configured such that lines joining the adjacent contra rotating coaxial rotors/propellers define a polygon of a configuration such that in event of any one pair of the pairs of the contra rotating coaxial rotors/propellers becoming non-functional, centre of gravity of the Aerial vehicle still lies within a polygon formed by lines joining the adjacent pairs of contra rotating coaxial rotors/propellers that remain functional; and wherein the control system is configured such that in event of failure of any one of the rotors/propellers of the pairs of contra rotating coaxial rotors/propellers (P1-1 and PI - 2, P2-1 and P2-2, P3-1 and P3-2, P4-1 and P4-2, and P5-1 and P5-2), the auto pilot is configured to shut off corresponding contra rotating rotor/propeller of the pair, rendering the corresponding pair of the contra rotating coaxial rotors/propellers non-functional, to maintain yaw stability,. a frame having at least five arms (104-1, 104-2, 104-3, 104-4, 104-5); pairs of contra rotating coaxial rotors/propellers (P1-1 and P1-2, P2-1 and P2-2, P3-1 and P3-2, P4-1 and P4-2, and P5-1 and P5-2) configured on each arm (104-1, 104-2, 104-3, 104-4, 104-5) of the frame ; and a control system incorporating an autopilot configured to control operation of the pairs of contra rotating coaxial rotors/propellers (P1-1 and PI -2, P2-1 and P2-2, P3-1 and P3-2, P4-1 and P4-2, and P5-1 and P5-2) to maintain stability of the Aerial Vehicle; wherein the pairs of contra rotating coaxial rotors/propellers (P1-1 and PI-2, P2-1 and P2-2, P3-1 and P3-2, P4-1 and P4-2, and P5-1 and P5-2) are configured such that lines joining the adjacent contra rotating coaxial rotors/propellers define a polygon of a configuration such that in event of any one pair of the pairs of the contra rotating coaxial rotors/propellers becoming non-functional, centre of gravity of the Aerial vehicle still lies within a polygon formed by lines joining the adjacent pairs of contra rotating coaxial rotors/propellers that remain functional; and wherein the control system is configured such that in event of failure of any one of the rotors/propellers of the pairs of contra rotating coaxial rotors/propellers (P1-1 and PI - 2, P2-1 and P2-2, P3-1 and P3-2, P4-1 and P4-2, and P5-1 and P5-2), the auto pilot is configured to shut off corresponding contra rotating rotor/propeller of the pair, rendering the corresponding pair of the contra rotating coaxial rotors/propellers non-functional, to maintain yaw stability,. <EOS>