Nowadays, Unmanned Aerial Vehicles (UAVs) are used in many different applications. Using systems of multiple UAVs is the next obvious step in the process of applying this technology for variety of tasks. There are few research works that cover the applications of these systems and they are all highly specialized. The goal of this survey is to fill this gap by providing a generic review on different applications of multiple UAV systems that have been developed in recent years. We also present a nomenclature and architecture taxonomy for these systems. In the end, a discussion on current trends and challenges is provided.This work was funded by the Ministry of Economy, Industryand Competitiveness of Spain under Grant Nos. TRA2016-77012-R and BES-2017-079798Peer ReviewedPostprint (published version
