Abstract: Disclosed herein is a method and system for flying a ducted-fan aerial vehicle, such as an unmanned aerial vehicle (UAV). The method includes receiving a flight plan comprising a plurality of waypoints and a plurality of path segments connecting the plurality of waypoints in an order of execution. The method further includes determining actual flight instructions for the ducted fan unmanned aerial vehicle based on (i) the received flight plan, (ii) a predetermined set of operating parameters associated with the ducted fan unmanned aerial vehicle, and (iii) an iterative analysis of a plurality of ordered triples. The method further includes sending the actual flight instructions to at least one processor of the ducted fan unmanned aerial vehicle configured to implement one or more portions of the actual flight instructions.