This paper provides a comprehensive review of swarm robotics from the perspective of swarm engineering, focusing on advancements and real-world applications. Swarm robotics aims to design robust, scalable, and flexible collective behaviors for large numbers of robots through simple rules and local interactions. The authors propose two taxonomies: one for design and analysis methods, and another for collective behaviors studied. They discuss the current limitations of swarm robotics and suggest future research directions. The paper covers various design methods, including behavior-based and automatic design, and analyzes collective behaviors such as spatial organization, navigation, and decision-making. It also highlights the importance of real-robot experiments for validating collective behaviors and the challenges in modeling and analyzing swarm systems.This paper provides a comprehensive review of swarm robotics from the perspective of swarm engineering, focusing on advancements and real-world applications. Swarm robotics aims to design robust, scalable, and flexible collective behaviors for large numbers of robots through simple rules and local interactions. The authors propose two taxonomies: one for design and analysis methods, and another for collective behaviors studied. They discuss the current limitations of swarm robotics and suggest future research directions. The paper covers various design methods, including behavior-based and automatic design, and analyzes collective behaviors such as spatial organization, navigation, and decision-making. It also highlights the importance of real-robot experiments for validating collective behaviors and the challenges in modeling and analyzing swarm systems.