In the last decade, the aerial robotics community has witnessed an increased interest in fully actuated multirotor unmanned aerial vehicles (UAVs) that have more capabilities than conventional underactuated multirotors. This article collects the different UAV designs having fully actuated aerodynamic wrench generation proposed in the literature to date. The work includes a systematic derivation of the control-allocation matrix for all of the concepts as well as a discussion of the different quantitative criteria used for optimizing UAV designs. Conventional Multirotor UAVsUAVs have seen great growth in popularity. They have facilitated cost-effective engineering solutions in many civilian applications by enabling various sensors to be deployed in the air. Multirotor UAVs have been widely used due to their unique qualities, such as vertical takeoff and landing, hovering, and mechanical simplicity. Conventional multirotor UAV designs, including the quadrotor and hexarotor, are optimized for maximum flight time. All such UAV rotors have parallel directions to collectively counteract gravity. Consequently, conventional multirotor UAVs have underactuated dynamics due to the coupling between the horizontal translational and rotational dynamics.