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Traditional heavy machinery faces accessibility challenges, labour shortages, and ecological impacts including soil compaction. This survey systematically reviews recent advances in cooperative perception tailored to these natural outdoor applications, with a primary focus on forestry and agriculture. First, we propose a comprehensive taxonomy of communication architectures, data-fusion strategies, coordination mechanisms, and decision-making techniques. Second, we delineate exploration and exploitation modes of operation, clarifying their roles in initial mapping and ongoing mission support. Third, we analyse the state-of-the-art in communication-aware planning, semantic and metric mapping, distributed decision processes, and multi-robot task allocation. Our study highlights critical research gaps\u2014such as limited active perception behaviours, underdeveloped communication-aware path planning, insufficient spatial-prediction integration, and scant adoption of metric-semantic representations. Finally, we outline a forward-looking research agenda aimed at enabling robust, adaptive, and environmentally considerate robotic teams capable of real-world deployment. This work serves as a foundational reference for advancing cooperative perception in multi-robot systems for natural environments.<\/jats:p>","DOI":"10.1007\/s10846-026-02404-x","type":"journal-article","created":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T08:47:13Z","timestamp":1780476433000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Cooperative Perception for Multi-Robot Systems in Natural Outdoor Applications \u2013 A Survey"],"prefix":"10.1007","volume":"112","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0743-5931","authenticated-orcid":false,"given":"Kalhan","family":"Boralessa","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2650-857X","authenticated-orcid":false,"given":"David","family":"Adama","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5139-6565","authenticated-orcid":false,"given":"Ahmad","family":"Lotfi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2510-2412","authenticated-orcid":false,"given":"Jo\u00e3o Filipe","family":"Ferreira","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,6,3]]},"reference":[{"key":"2404_CR1","doi-asserted-by":"publisher","unstructured":"Guenat, S., Purnell, P., Davies, Z.G., Nawrath, M., Stringer, L.C., Babu, G.R., Balasubramanian, M., Ballantyne, E.E.F., Bylappa, B.K., Chen, B., De\u00a0Jager, P., Del\u00a0Prete, A., Di\u00a0Nuovo, A., Ehi-Eromosele, C.O., Eskandari\u00a0Torbaghan, M., Evans, K.L., Fraundorfer, M., Haouas, W., Izunobi, J.U., Jauregui-Correa, J.C., Kaddouh, B.Y., Lewycka, S., MacIntosh, A.C., Mady, C., Maple, C., Mhiret, W.N., Mohammed-Amin, R.K., Olawole, O.C., Oluseyi, T., Orfila, C., Ossola, A., Pfeifer, M., Pridmore, T., Rijal, M.L., Rega-Brodsky, C.C., Robertson, I.D., Rogers, C.D.F., Roug\u00e9, C., Rumaney, M.B., Seeletso, M.K., Shaqura, M.Z., Suresh, L.M., Sweeting, M.N., Taylor\u00a0Buck, N., Ukwuru, M.U., Verbeek, T., Voss, H., Wadud, Z., Wang, X., Winn, N., Dallimer, M.: Meeting sustainable development goals via robotics and autonomous systems. 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