This paper aims to systematically review the research progress in cooperative technologies for sea-air heterogeneous multi-agent systems， clarify their core cooperative paradigms， and reveal the systemic challenges arising from the tight coupling of the “perception， decision-making， and control” full chain. Adopting a system-level functional perspective， the research analyzes the full-chain challenges induced by scale effects and heterogeneity effects， such as system scalability， dynamic matching， and overall robustness. Subsequently， it conducts a review and comparative analysis of the mainstream methods for five key technologies underpinning system cooperation—multi-source data fusion， communication networks， task allocation， path planning， and formation control， evaluating their advantages， limitations， and applicable scenarios. Analysis indicates that while such systems show significant potential in tasks like maritime search and rescue and wide-area inspection， their transition to practical engineering applications remains constrained by bottlenecks such as cross-platform integration difficulties， insufficient adaptability to dynamic environments， and a lack of testing and evaluation frameworks. Future efforts should focus on making sustained breakthroughs in areas such as full-chain cooperative theory modeling， lightweight intelligent algorithms， and standardized engineering architectures， while also exploring new cross-domain cooperative paradigms， to promote the development of marine-aerial heterogeneous multi-agent systems towards greater intelligence， enhanced robustness， and broader application.