This paper surveys recent research in cooperative control of multivehicle systems, using a common mathematical framework to unify different methods. The survey includes an overview of current applications, key technical approaches, and possible future research directions. It discusses areas such as formation control, cooperative tasking, spatiotemporal planning, and consensus. The paper highlights challenges like uncertainty from communication, system complexity, and scalability. It defines cooperative control as tasks requiring joint vehicle actions and distinguishes between centralized and decentralized strategies. Applications include military systems, mobile sensor networks, and transportation. Key technical approaches include optimization-based methods, potential field solutions, string stability, and swarm behavior. Consensus algorithms are also discussed, focusing on achieving agreement among vehicles. Future directions include integrated control, communications, and computer science, as well as improved stability and scalability in cooperative systems.This paper surveys recent research in cooperative control of multivehicle systems, using a common mathematical framework to unify different methods. The survey includes an overview of current applications, key technical approaches, and possible future research directions. It discusses areas such as formation control, cooperative tasking, spatiotemporal planning, and consensus. The paper highlights challenges like uncertainty from communication, system complexity, and scalability. It defines cooperative control as tasks requiring joint vehicle actions and distinguishes between centralized and decentralized strategies. Applications include military systems, mobile sensor networks, and transportation. Key technical approaches include optimization-based methods, potential field solutions, string stability, and swarm behavior. Consensus algorithms are also discussed, focusing on achieving agreement among vehicles. Future directions include integrated control, communications, and computer science, as well as improved stability and scalability in cooperative systems.