The examples of foreign heterogeneous cooperative weapons projects and the forms of heterogeneous clusters are provided, and the definition of heterogeneous cluster is given based on the literature. Based on the process of multi-agent cooperative warfare, four key areas of cooperative technology are summarized, including cooperative network communication technology, cooperative decision and planning technology, cooperative formation control technology, and cooperative terminal guidance technology. The key technologies in each area are summarized, and the technical differences between a heterogeneous cluster and a homogeneous cluster are given. On this basis, two technical areas are proposed, including pre-task planning and cooperative game penetration guidance. The grouping and proportioning problem for heterogeneous cluster warfare is proposed, and the development status of scene modeling and bi-level optimization model solving technology is introduced. For the multi-agent confrontation problem, the issues of using differential game theory are discussed. Finally, the difficulties faced by heterogeneous cluster cooperative technology are summarized, and the future development of this research field is prospected.