Abstract: An aerial vehicle includes a fuselage defining a longitudinal axis, a closed wing structure with a pair of lower wings coupled to the fuselage, an upper wing device, and a pair of connector wings connecting the pair of lower wings and the upper wing device. The aerial vehicle further includes a pair of front propulsion devices coupled to the fuselage, and a pair of rear propulsion devices pivotally coupled to the fuselage, wherein the pair of rear propulsion devices is arranged between the pair of lower wings and the upper wing device, and wherein the pair of rear propulsion devices is pivotal between a take-off position and a cruise position.