  Embodied robots which can interact with their environment and neighbours are
increasingly being used as a test case to develop Artificial Intelligence. This
creates a need for multimodal robot controllers that can operate across
different types of information, including text. Large Language Models are able
to process and generate textual as well as audiovisual data and, more recently,
robot actions. Language Models are increasingly being applied to robotic
systems; these Language-Based robots leverage the power of language models in a
variety of ways. Additionally, the use of language opens up multiple forms of
information exchange between members of a human-robot team. This survey
motivates the use of language models in robotics, and then delineates works
based on the part of the overall control flow in which language is
incorporated. Language can be used by human to task a robot, by a robot to
inform a human, between robots as a human-like communication medium, and
internally for a robot's planning and control. Applications of language-based
robots are explored, and numerous limitations and challenges are discussed to
provide a summary of the development needed for the future of language-based
robotics.
