Infrastructure systems, such as power, transportation, telecommunication, and water systems, are composed of multiple components which are interconnected and interdependent to produce and distribute essential goods and services. So, the robustness of infrastructure systems to resist disturbances is critical for the durable performance of modern societies. Multilayer networks have been used to model the multiplicity and interrelation of infrastructure systems and percolation theory is the most common approach to quantify the robustness of such networks. This survey systematically reviews literature published between 2010 and 2021, on applying percolation theory to assess the robustness of infrastructure systems modeled as multilayer networks. We discussed all network properties applied to build infrastructure models. Among all properties, interdependency strength and communities were the most common network property whilst very few studies considered realistic attributes of infrastructure systems such as directed links and feedback conditions. The review highlights that the properties produced approximately similar model outcomes, in terms of detecting improvement or deterioration in the robustness of multilayer infrastructure networks, with few exceptions. Most of the studies focused on highly simplified synthetic models rather than models built by real datasets. Thus, this review suggests analyzing multiple properties in a single model to assess whether they boost or weaken the impact of each other. In addition, the effect size of different properties on the robustness of infrastructure systems should be quantified. It can support the design and planning of robust infrastructure systems by arranging and prioritizing the most effective properties.