Abstract: An aerial vehicle including: a central frame, a tail extending from the central frame along a first axis, arms extending from the central frame and able to rotate around a second axis, the angular position of the arm with respect to the second axis defining an arm rotation angle. The tail has a tail rotor spinning around a tail rotor axis, the tail rotor axis being parallel to a third axis orthogonal to both first axis and second axis. The free end of each arm is equipped with two thrust motors controlling spinning in opposite direction of two coaxial rotors. The two coaxial rotors define a double rotor axis and can tilt together with respect to another tilting axis, the tilting axis being perpendicular to the second axis, the angular position of the double rotor with respect to the double rotor axis defining a double rotor tilting angle.