Aerial vehicle having two self-sufficient subsystems

A system comprising:

• a first self-sufficient subsystem comprising:
• first one or more effectors;
• and
• a first flight module operable to generate control signals for operating the first one or more effectors to cause the first self-sufficient subsystem to fly;
• and
• a second self-sufficient subsystem comprising:
• second one or more effectors;
• and
• a second flight module operable to generate control signals for operating the second one or more effectors to cause the second self-sufficient subsystem to fly, wherein:
• the first and second self-sufficient subsystems are attachable to each other to form an aerial vehicle;
• the first flight module is operable to generate control signals for operating the first and second one or more effectors to cause the aerial vehicle to fly;
• and
• the second flight module is operable to, in response to detecting a failure in the first self-sufficient subsystem, compute control signals for the second one or more effectors.