Lightweight vertical take-off and landing aircraft and flight control paradigm using thrust differentials

An aerial vehicle adapted for vertical takeoff and horizontal flight, said aerial vehicle comprising:

• a main vehicle body;
• one or more electric batteries;
• a two dimensional array of three or more rotors pivotally connected to said main vehicle body, wherein each of said rotors comprise an electric motor;
• a flight control system, said flight control system adapted control the attitude of said aerial vehicle while taking off vertically by varying the thrust of the three or more thrust producing elements, said flight control system adapted to control the attitude of said aerial vehicle while in horizontal flight by varying the thrust of the three or more thrust producing elements;
• a first right side wing, wherein a first rotor is attached to said first right side wing above said first right side wing, and wherein a second rotor is attached to said first right side wing below said first right side wing, and wherein said first right side wing is pivotally attached to said main vehicle body;
• and
• a second left side wing, wherein a third rotor is attached to said second left side wing above said second left side wing, and wherein a fourth rotor is attached to said second left side wing below said second left side wing, and wherein said second left side wing is pivotally attached to said main vehicle body.