  While multi-robot systems have been broadly researched and deployed, their
success is built chiefly upon the dependency on network infrastructures,
whether wired or wireless. Aiming at the first steps toward de-coupling the
application of multi-robot systems from the reliance on network
infrastructures, this paper proposes a human-friendly verbal communication
platform for multi-robot systems, following the deliberately designed
principles of being adaptable, transparent, and secure. The platform is network
independent and is subsequently capable of functioning in network
infrastructure lacking environments from underwater to planet explorations. A
series of experiments were conducted to demonstrate the platform's capability
in multi-robot systems communication and task coordination, showing its
potential in infrastructure-free applications. To benefit the community, we
have made the codes open source at https://github.com/jynxmagic/MSc_AI_project
