  Purpose of Review. This review summarizes the broad roles that communication
formats and technologies have played in enabling multi-robot systems. We
approach this field from two perspectives: of robotic applications that need
communication capabilities in order to accomplish tasks, and of networking
technologies that have enabled newer and more advanced multi-robot systems.
  Recent Findings. Through this review, we identify a dearth of work that
holistically tackles the problem of co-design and co-optimization of robots and
the networks they employ. We also highlight the role that data-driven and
machine learning approaches play in evolving communication pipelines for
multi-robot systems. In particular, we refer to recent work that diverges from
hand-designed communication patterns, and also discuss the "sim-to-real" gap in
this context.
  Summary. We present a critical view of the way robotic algorithms and their
networking systems have evolved, and make the case for a more synergistic
approach. Finally, we also identify four broad Open Problems for research and
development, while offering a data-driven perspective for solving some of them.
