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Unmanned aerial vehicles (UAV) have been gaining significant attention in recent times as they are becoming increasingly accessible and easier to use. The advancements in flight controller technology have enabled users to fly a recreational UAV without any previous flight experience. UAVs are used in a variety of applications, ranging from civilian tasks, law enforcement, and rescue applications, to military reconnaissance and air strike missions. This article serves as an introduction to UAV systems' architecture, classification, and applications to help researchers and practitioners starting in this field get adequate information to understand the current state of UAV technologies. The article starts by inspecting the UAVs' body configuration styles and explains the physical components and sensors that are necessary to operate and fly a UAV system. The article also provides a comparison of several components for state-of-the-art UAVs. The article further discusses different propulsion methods and various payloads that could be mounted on the UAV. The article then explores the classification of UAVs followed by the application of UAVs in different domains, such as recreational, commercial, and military. Finally, the article provides a discussion of futuristic technologies and applications of UAVs along with their associated challenges.