This survey paper focuses on quadrotor- and multirotor- based cooperative aerial manipulation. Emphasis is first given on comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application environments. Underlying modeling and control approaches are also discussed and compared. The outcome of the survey allows for understanding the motivation and rationale to develop such systems, their applicability and implementability in diverse applications and also challenges that need to be addressed and overcome. Moreover, the survey provides a guide to develop the next generation of prototype systems based on preferred characteristics, functionality, operability and application domain.

翻译：本综述论文聚焦于基于四旋翼和多旋翼的协同空中操纵系统。首先重点比较和评估了已在不同应用环境中进行实时实现和测试的原型系统，同时对底层建模与控制方法进行了探讨与对比。该综述成果有助于理解此类系统开发的动机与原理、其在多种应用中的适用性和可实现性，以及需要应对和克服的挑战。此外，本文还为基于优选特性、功能、可操作性与应用领域开发下一代原型系统提供了指导。