Recently, Multi-Robot Systems (MRS) have attained considerable recognition because of their efficiency and applicability in different types of real-life applications. This paper provides a comprehensive research study on MRS coordination, starting with the basic terminology, categorization, application domains, and finally, give a summary and insights on the proposed coordination approaches for each application domain. We have done an extensive study on recent contributions in this research area in order to identify the strengths, limitations, and open research issues, and also highlighted the scope for future research. Further, we have examined a series of MRS state-of-the-art parameters that affect MRS coordination and, thus, the efficiency of MRS, like communication mechanism, planning strategy, control architecture, scalability, and decision-making. We have proposed a new taxonomy to classify various coordination approaches of MRS based on the six broad dimensions. We have also analyzed that how coordination can be achieved and improved in two fundamental problems, i.e., multi-robot motion planning, and task planning, and in various application domains of MRS such as exploration, object transport, target tracking, etc.

最近，多机器人系统（MRS）因其在不同类型的现实生活应用中的效率和适用性而获得了相当大的认可。本文对 MRS 协调进行了全面的研究，从基本术语、分类、应用领域开始，最后对每个应用领域提出的协调方法进行了总结和见解。我们对这一研究领域的近期贡献进行了广泛的研究，以确定优势、局限性和开放的研究问题，并强调了未来研究的范围。此外，我们研究了一系列影响 MRS 协调的最新 MRS 参数，从而影响 MRS 的效率，如通信机制、规划策略、控制架构、可扩展性、和决策。我们提出了一种新的分类法，根据六个广泛的维度对 MRS 的各种协调方法进行分类。我们还分析了如何在多机器人运动规划和任务规划这两个基本问题以及 MRS 的各种应用领域（如探索、对象传输、目标跟踪等）中实现和改进协调。