I. INTRODUCTION  
A. Multi-Agent Cloud Robotics and Related Computing Paradigms  
B. Challenges of Resource Allocation and Service Provisioning in Multi-Agent Cloud Robotics  
C. Motivation of this Article and Our Contribution  
D. Article Organization  

II. OVERVIEW OF MULTI-AGENT CLOUD ROBOTICS ADVANCEMENTS  
B. Recent Industrial Practices of Multi-Agent Cloud Robotics  
C. Related Surveys  

III. RESOURCE ALLOCATION IN MULTI-AGENT CLOUD ROBOTIC SYSTEMS  

IV. SERVICE PROVISIONING IN MULTI-AGENT CLOUD ROBOTIC SYSTEMS  

V. LESSONS LEARNED  

VI. A HOLISTIC FRAMEWORK AND FUTURE RESEARCH DIRECTIONS  

VII. CONCLUSION