Urban air mobility (UAM) can become an integral part of worldwide urban mobility for last-mile connections (up to 50 km range) or sub-regional routes (from 100 to 300 km range). To work in future urban scenarios, environmentally friendly air vehicles are designed to be able to perform vertical take-off and landing (VTOL). Although many challenges are expected to be faced for enabling technologies, infrastructures and air space management, many prototypes of UAM vehicles are proposed. VTOL characteristics can be easily achieved by a multirotor configuration in order to produce a vertical force to balance the weight of the system. However, such a configuration limits the aerodynamic efficiency and poses noticeable endurance restrictions, thus limiting the operability of the UAVs to local missions only.