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So there are 6 dlna servers: Minidlna, Twonky, Firefly, Mediatomb, Logitech and Oxylbox. What are the advantages of each?

;) dear hardy I think you should put a little effort in this by browsing the internet...it is not possible to give a short answer to list all advantages and disadvantages. :-D
I will mention a few to get you on the way
Twonky , very good server with many possibilities, disadvantage you need a license of 30 days (no.. we do not get anything from that)
Minidlna, simple server easy to setup and free
Mediatomb, similar as minidlna but somewhat more possibilities and a on won webinterface, also free
Firefly, an audio file server for iTunes clients
Logitech, you can use logitech mediastreamers to connect to your NAS but it has also a dlna media server en much more..see logitech website
Oxylbox, outdated, will be removed in next release

I did put some effort :) But it's very difficult, since the software's pages don't give so much details. Ended up using Minidlna. It seems to run very light. The option (in the .conf) to be able to define the scanned folders by media type is cool.

I was hoping for some guidance from somebody with experience from the various options. Thanks.

I have same problem, after reading on the web about every one wiki, my conclusion is this, all have same advantages over the others and same disadvantages over the others, the main factor for what I will use is compatibility with my network connected hardware. O short is a decision based on trial and error.