This paper provides a comprehensive survey of recent research in cooperative control of multivehicle systems, focusing on the last two decades. The survey is divided into three main parts: an overview of current applications, a summary of key technical approaches, and a discussion of future research directions. The applications covered include military systems, mobile sensor networks, and transportation systems. Key technical areas discussed include formation control, cooperative tasking, spatiotemporal planning, and consensus algorithms. The paper also highlights the challenges and open problems in the field, such as integrated control, communications, and computer science, as well as verification and validation for mission-critical systems.This paper provides a comprehensive survey of recent research in cooperative control of multivehicle systems, focusing on the last two decades. The survey is divided into three main parts: an overview of current applications, a summary of key technical approaches, and a discussion of future research directions. The applications covered include military systems, mobile sensor networks, and transportation systems. Key technical areas discussed include formation control, cooperative tasking, spatiotemporal planning, and consensus algorithms. The paper also highlights the challenges and open problems in the field, such as integrated control, communications, and computer science, as well as verification and validation for mission-critical systems.