1. Introduction
2. Why Use Language?
2.1 Knowledge and Inference
2.2 Zero-shot Adaptability
2.3 Interactable and Understandable
2.4 Biological Inspiration and Language-as-Intelligence
3. The Paradigm for Communication in Multi-Robot Systems
3.1 Human to Robot Communication
3.2 Robot to Human Communication
3.3 Robot to Robot Communication
3.4 Robot Control and Reasoning
4. Applications
4.1 Autonomous Vehicles
4.2 Language-based Explainability of Robot Behaviour
4.3 Ad-hoc Coordination
4.4 Cobots
5. Challenges
5.1 Core Issues with LLMs
5.2 Issues with LLMs in Robotic Systems
5.3 Ethical and Safety Concerns
6. Conclusion