A method of controlling an unmanned aerial vehicle includes receiving a first signal including information relating to a payload of the unmanned aerial vehicle, retrieving a predetermined value from a memory of the unmanned aerial vehicle based on the information of the first signal, and generating a second signal for changing a configuration of an arm of the unmanned aerial vehicle to change a distance of at least one of a plurality of propulsion units of the unmanned aerial vehicle corresponding to the arm from a reference point on a central body of the unmanned aerial vehicle based on the predetermined value.