Research on Multi-rotor Aerial Vehicles (MAVs) has experienced remarkable advancements over the past two decades, propelling the field forward at an accelerated pace. Through the implementation of motion control and the integration of specialized mechanisms, researchers have unlocked the potential of MAVs to perform a wide range of tasks in diverse scenarios. Notably, the literature has highlighted the distinctive attributes of MAVs that endow them with a competitive edge in physical interaction when compared to other robotic systems. In this survey, we present a categorization of the various types of physical interactions in which MAVs are involved, supported by comprehensive case studies. We examine the approaches employed by researchers to address different challenges using MAVs and their applications, including the development of different types of controllers to handle uncertainties inherent in these interactions. By conducting a thorough analysis of the strengths and limitations associated with different methodologies, as well as engaging in discussions about potential enhancements, this survey aims to illuminate the path for future research focusing on MAVs with high actuation capabilities.

翻译：多旋翼飞行器（MAVs）研究在过去二十年间取得了显著进展，推动了该领域以加速态势发展。通过实施运动控制并集成专用机构，研究人员已解锁多旋翼飞行器在多样化场景中执行广泛任务的潜力。值得注意的是，文献强调了多旋翼飞行器相较于其他机器人系统在物理交互中具有竞争优势的独特属性。本综述提出了一项关于多旋翼飞行器所涉及的不同类型物理交互的分类体系，并辅以综合案例研究。我们考察了研究人员利用多旋翼飞行器应对不同挑战的方法及其应用，包括开发不同类型的控制器以处理这些交互中固有的不确定性。通过深入分析不同方法论的优势与局限性，并就潜在改进方向展开探讨，本综述旨在为聚焦于高驱动能力多旋翼飞行器的未来研究指明方向。