Transportation missions in aerospace are limited to the capability of each robot and the properties of the object being transported, such as mass, inertia, and grasping points. We present a novel decentralized adaptive controller design for multiple robots that can be implemented in different kinds of aerospace robots. Moreover, our controller adapts to unknown objects in different gravity environments. We validate our method in an aerial scenario using multiple fully actuated hexarotors with grasping capabilities, and a space scenario using a group of space tugs. In both cases, the robots cooperatively transport a payload along desired three-dimensional trajectories. We demonstrate that our method can adapt to unexpected changes, including the loss of robots during the transportation mission. Supplemental Video: http://tiny.cc/dars2024unm