In the human–robot interaction (HRI) field, the research on increasing robots in human groups and teams stands behind. As the number of users interacting with robots is increasing, more research efforts are needed to understand the interaction processes between humans and robots in groups. Though the area of HRI has gained traction in recent years, most studies have studied single-human and single-robot interaction. There is a need to build a group human–robot interaction theory for a complete understanding of how interactions happen in human–robot groups, which will be helpful for the design of robots for contemporary and future purposes and societies. This paper talks about the factors to consider for the design of group human–robot interaction theory. Establishing a strong conceptual foundation is very important to designing future robots. Literature says the human–human teams (HHTs) theory is the basis for the human–robot teams (HRTs) theory. This paper also attempts to correlate Tuckman’s theory to HRTs by taking an example of a task between humans and robots in a group. Many studies on HHTs and some on HRTs ended up with many variables to consider before designing a robot. We believe that structuring existing elements is much needed to build a theory for group human–robot interaction which provides guidelines for HRI researchers to develop the state of the art of the HRI field and is useful for the design of future robots. Overall, this paper provides a framework to build a theory such that one should not miss out on the important points for getting those findings to build a theory. There can be many approaches to building theory; we intend to present a concise map based on existing literature, approaches, studies, and our theoretical understanding of groups, teams, HRI, and related fields.