Mesos is much more mature, but is more low-level, and schedulers like Aurora or Marathon do not give you the same service abstraction, but they have many features not currently present in Kubernetes. But, in return for being more low-level, you can run things that are simply impossible in a declarative system like Kubernetes. Personally I see Kubernetes-on-Mesos as being a really bright future choice, but like pretty much anything other than Marathon/Aurora on Mesos, it's pretty nascent.