  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.
