This work presents the design, simulation and prototyping for a type of Unmanned Aerial Vehicle (UAV), with fixed motors and bidirectional propellers. This configuration has the potential to perform unusual maneuvers compared to conventional (under-actuated) configurations, since they can be over-actuated or fully actuated depending on the number of motor-propellers installed. Typical configurations of conventional multirotor UAVs normally have their motors located in the same plane and with their rotation axes parallel. However, the proposal discussed in this work has its motors-propellers arranged in competing planes and in positions that enhance the available forces and torques, thus being able to provide movement trajectories that are unattainable for common multirotors. This dissertation then presents a state of the art/technique, visiting some works on omnidirectional UAVs, ranging from omnidirectional UAVs with variable direction rotors, to omnidirectional multirotors with fixed rotors. Based on this overview of the problem, the development of mathematical modeling of the aerial platform and some of its subsystems is presented. This modeling is followed by simulations that help in predictions and estimates for the dynamic behavior of the system. This information is useful to support the sizing of other components such as the frame, the propulsion system, among others, in addition to establishing a base of parameters for future tests of the physical model of the prototype. Based on the previous discussions, a basic layout for the aerial platform is proposed and some performance aspects are evaluated and analyzed and, based on these, some future work is proposed.