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This paper presents a comparison between different hypotheses of propulsion of a spherical UAS. Different architectures have been analyzed assessing their specific aerodynamic, energetic, and flight mechanics features. ...An effective energy assessment and comparison against a commercial UAS has been produced. Even if the paper considers a preliminary simplified configuration, it demonstrates clearly to be competitive against traditional quadcopters in a predefined reference mission.

This paper presents a novel UAS (Unmanned Aerial System) designed for excellent low speed operations and VTOL performance. This aerial vehicle concept has been designed for maximizing the advantages by of the ACHEON (Aerial Coanda High Efficiency Orienting-jet Nozzle) propulsion system, which has been studied in a European commission under 7th framework programme. ...This aerial vehicle concept has been designed for maximizing the advantages by of the ACHEON (Aerial Coanda High Efficiency Orienting-jet Nozzle) propulsion system, which has been studied in a European commission under 7th framework programme. This UAS concept has been named MURALS (acronym of Multifunctional Unmanned Reconnaissance Aircraft for Low-speed and STOL operation).