Disclosed is an aerial vehicle having a reduced noise signature. The aerial vehicle may be a vertical take-off and landing (VTOL) aerial vehicle. The aerial vehicle comprises an airframe and a plurality of rotors operatively coupled with one or more motors. The plurality of rotors may comprise a first, second, third, and fourth rotor. Each of the first, second, third, and fourth rotors may be arranged in a single plane and oriented to direct thrust downward relative to the airframe. In certain aspects, at least two of the plurality of rotors employ a different geometry to generate a targeted noise signature.