Due to increasingly strong and varied performance requirements, cooperative wireless communication systems today occupy a prominent place in both academic research and industrial development. The technological and economic challenges for future sixth-generation (6G) wireless systems are considerable, with the objectives of improving coverage, data rate, latency, reliability, mobile connectivity and energy efficiency. Over the past decade, new technologies have emerged, such as massive multiple-input multiple-output (MIMO) relay systems, intelligent reflecting surfaces (IRS), unmanned aerial vehicular (UAV)-assisted communications, dual-polarized (DP) antenna arrays, three dimensional (3D) polarized channel modeling, and millimeter-wave (mmW) communication. The objective of this paper is to provide an overview of tensor-based MIMO cooperative communication systems. Indeed, during the last two decades, tensors have been the subject of many applications in signal processing, especially for digital communications, and more broadly for big data processing. After a brief reminder of basic tensor operations and decompositions, we present the main characteristics allowing to classify cooperative systems, illustrated by means of different architectures. A review of main codings used for cooperative systems is provided before a didactic and comprehensive presentation of two-hop systems, highlighting different tensor models. In a companion paper currently in preparation, we will show how these tensor models can be exploited to develop semi-blind receivers to jointly estimate transmitted information symbols and communication channels.