Maintaining attitude control of unmanned aerial vehicles by varying centers of gravity

A method comprising:

• selecting a first rotational speed for a first propulsion motor of an aerial vehicle and a second rotational speed for a second propulsion motor of the aerial vehicle for causing the aerial vehicle to travel on a first course, at a first velocity, at a first altitude and in a first angular orientation, wherein the aerial vehicle further comprises an engagement system configured to translate at least one object in at least one direction, wherein the first rotational speed and the second rotational speed are selected at a first time, and wherein the at least one object is in a first position at the first time;
• operating the first propulsion motor at the first rotational speed;
• operating the second propulsion motor at the second rotational speed;
• selecting a third rotational speed for the second propulsion motor and a second position of the at least one object for causing the aerial vehicle to travel in the first angular orientation and at least one of on the first course, at the first velocity or at the first altitude, wherein the third rotational speed and the second position are selected at a second time, and wherein the second time follows the first time;
• stopping the first propulsion motor;
• operating the second propulsion motor at the third rotational speed;
• and
• causing the engagement system to move the at least one object from the first position to the second position.

A method for operating an aerial vehicle, wherein the aerial vehicle comprises a first propulsion motor, a second propulsion motor and an engagement system configured to translate an engaged payload in at least one direction, and

• wherein the method comprises:
• causing the aerial vehicle to travel at a first velocity and in an angular orientation prior to a first time, wherein causing the aerial vehicle to travel at the first velocity and in the angular orientation prior to the first time comprises:
• causing the first propulsion motor to operate at a first rotational speed prior to the first time;
• causing the second propulsion motor to operate at a second rotational speed prior to the first time;
• and
• causing the engagement system to place the engaged payload in a first position with respect to a centerline of the aerial vehicle;
• identifying a fault in the first propulsion motor as of the first time;
• in response to identifying the fault in the first propulsion motor,
• causing the aerial vehicle to travel at one of the first velocity or a second velocity and in the angular orientation after the first time, wherein causing the aerial vehicle to travel at the one of the first velocity or the second velocity and in the angular orientation after the first time comprises:
• selecting a third rotational speed for the second propulsion motor based at least in part on the identifying the fault;
• selecting a second position for the engaged payload with respect to the centerline of the aerial vehicle;
• causing the second propulsion motor to operate at the third rotational speed after the first time;
• and
• causing the engaged payload to be translated to the second position after the first time.