The disclosure provides a method of controlling the yaw of a fixed-wing UAV, with two traction propellers arranged parallel to each other and providing thrust for the UAV; A plurality of motors configured to drive the two traction propellers, wherein the thrust ratio provided by the two traction propellers is changed to generate asymmetric thrust which controls the active yaw of the UAV. The fixed-wing UAV provided by the disclosure improves the reliability of the thrust system and active yaw.

A first embodiment includes a circuit based aerial vehicle including an enclosed air duct circuit with a plurality of fans within respective fan tunnels and a plurality of rotating archway assemblies. The rotating archway assemblies may include respective cylinder casings with medial archways, actuating collars at opposing ends of the cylinder casing, and a rotational cylinder rotatable along its longitudinal axis. The actuating collars may be structured to spin their respective cylinder casings along the cylinder casing longitudinal axes thereby orienting the rotational cylinders in different positions along their medial axes.

A second embodiment includes rounded cylinder assemblies with respective bulbous cylinder casings including medial actuating collars that rotate rather than the entire cylinder casing. The actuating collars themselves are structured to spin their respective rotational cylinders along the rotational cylinder longitudinal axes to orient the rotational cylinders in different positions along their medial axes.

This disclosure describes a collective UAV in which multiple UAVs may be coupled together to form the collective UAV. A collective UAV may be used to aerially transport virtually any size, weight or quantity of items, travel longer distances, etc. For example, rather than using one large UAV to carry a larger or heavier item, multiple smaller UAVs may couple together to form a collective UAV that is used to carry the larger or heavier item.

This disclosure describes a collective UAV in which multiple UAVs may be coupled together to form the collective UAV. A collective UAV may be used to aerially transport virtually any size, weight or quantity of items, travel longer distances, etc. For example, rather than using one large UAV to carry a larger or heavier item, multiple smaller UAVs may couple together to form a collective UAV that is used to carry the larger or heavier item.

The present invention provides a stackable drone and a drone swarm comprising at least two stackable drones. Each drone comprising: a fuselage comprising a first end and a second end; a mating structure arranged in the fuselage and configured to have an opening at the first end of the fuselage, the mating structure forming a mating recess on a first side of the fuselage, the mating recess having an opening at the first side of the fuselage for receiving a mating projection from a further stacking unmanned aerial vehicle. The stackable drones do not require a large area of ground for take-off and landing, require only a small space for storage and transportation. When landing, based on the conical or pyramidal structure, the drone may slide down by gravitational force into the mating recess of another drone thereunder without needs of high precision positioning or alignment system.

The present invention provides a stackable drone and a drone swarm comprising at least two stackable drones. Each drone comprising: a fuselage comprising a first end and a second end; a mating structure arranged in the fuselage and configured to have an opening at the first end of the fuselage, the mating structure forming a mating recess on a first side of the fuselage, the mating recess having an opening at the first side of the fuselage for receiving a mating projection from a further stacking unmanned aerial vehicle. The stackable drones do not require a large area of ground for take-off and landing, require only a small space for storage and transportation. When landing, based on the conical or pyramidal structure, the drone may slide down by gravitational force into the mating recess of another drone thereunder without needs of high precision positioning or alignment system.

Drones with propulsions systems supported in a housing are provided where the orientation of the housing is independent from the orientation of the propulsion system. Drones are provided where a propulsion system is rotatable about a first axis and a second axis that is perpendicular to the first axis, permitting the propulsion system to assume substantially any position with a sphere. Drones are provided where a bladeless inner tube is rotatable about a first axis and a second axis that is perpendicular to the first axis, permitting the inner tube to assume substantially any position within a sphere. Drone systems are provided with connectable unit drones. An unmanned land vehicle is provided having a wheel assembly that is rotatable about a first axis and a second axis that is perpendicular to the first axis, permitting the wheel assembly to assume substantially any position with a sphere.

The disclosure provides a method of controlling the yaw of a fixed-wing UAV, with two propulsion propellers arranged parallel to each other and providing thrust for the UAV; A plurality of motors configured to drive the two propulsion propellers, wherein the thrust ratio provided by the two propulsion propellers is changed to generate asymmetric thrust which controls the active yaw of the UAV. The fixed-wing UAV provided by the disclosure improves the reliability of the thrust system and active yaw.

A method of navigating an UAV over water with vertical takeoff and landing (VTOL) function. The UAV having a plurality of lift propellers; a cabin engaged with a plurality of lift propellers; a water propulsion system engaged with the cabin to push the cabin in a forward direction when the cabin is at least partially immersed in water; at least one water inlet engaged with the water propulsion system; the cabin is a cargo hold or a passenger cabin. The UAV provided by the disclosure can realize vertical takeoff and landing in the water area, and fly, drive and navigate freely in the whole area.

A method of navigating an UAV over water with vertical takeoff and landing (VTOL) function. The UAV having a plurality of lift propellers; a cabin engaged with a plurality of lift propellers; a water propulsion system engaged with the cabin to push the cabin in a forward direction when the cabin is at least partially immersed in water; at least one water inlet engaged with the water propulsion system; the cabin is a cargo hold or a passenger cabin. The UAV provided by the disclosure can realize vertical takeoff and landing in the water area, and fly, drive and navigate freely in the whole area.