slotted v. Phillips v. Pozidriv v. Robertson v. hex socket v. TORX (screw drives)

slotted	The slotted screw is the oldest and most easily manufactured design in this list. It can be driven by hand with a flat-bladed screwdriver, but power drivers tend to slip out of the head and mar the work surface.
Phillips	Phillips screws were invented by John P. Thompson and refined by Henry F. Phillips in the early 1930s. This design makes it easy to center the driver on the screw, and allows the driver to cam (slip) out under high torque. These features were desirable for mass-production systems in the first half of the 20th century, before torque-limiting screwdrivers became common.
Pozidriv	Phillips sockets have rounded corners and angled surfaces, which is what enables them to cam out. Pozidriv looks similar, but its recesses have parallel-sided surfaces, so it’s not as likely to cam out. If you can control the amount of torque applied to a fastener, it’s best to avoid cam out, since this decreases wear on the tools. The vanes set at 45 degrees to the cross help distinguish Pozidriv from Phillips. A Phillips screwdriver will turn a Pozidriv screw, but not vice versa.
Robertson	The Robertson, or square drive was invented in 1908 by P.L. Robertson. Unlike Phillips screws, Robertson screws don’t cam out. The square, slightly tapered recess in the head makes it easy to hold the screw on the driver and drive the screw one-handed.
hex socket	Internal wrenching hex sockets shouldn’t be confused with hex head bolts and screws, whose external head shape is hexagonal. Hex socket hardware is often driven by a metal rod with a hexagonal cross-section, bent at a right angle. This tool is called a hex key or Allen wrench, and it is small, light, inexpensive, and can be used to maximize torque or reach, depending on whether the short or long leg is used to drive the screw.
TORX	Developed by Camcar LLC, and shaped like a star with 6 rounded points, TORX drive offers improved torque transfer between the driver and the fastener, and prevents cam out. This makes it popular in the electronics and automotive industries.

 

Wikipedia on drive types

One Good Turn: A Natural History of the Screwdriver and the Screw, by Witold Rybczynski