Abstract: A vehicle equipped with two or more propulsion units, each, for example, consisting of engine with propeller, with their thrust principally directed vertically along a z-axis, such vehicle characterized by that each propulsion unit can be controlled by rotation around two axes mainly perpendicular to the z-axis and that the propulsion units are positioned some distance apart in the z-direction enabling such control of the attitude of the propulsion units to obtain: a) lateral force without attendant moment around the center-of-gravity of the vehicle to control the lateral position of the vehicle, or b) a moment around the center-of-gravity of the vehicle without attendant lateral force to control the lateral attitude of the vehicle, or c) combination of (a) and (b) thereby to simplify the implementation of a system to control the position and attitude of the vehicle whether such control system is manipulated manually, automatically or in a combination thereof.