Roberts, who was 61, died on Thursday last week.
In addition to running consultancy and coaching firm SMI, which he founded in 2006, he taught at the London Business School and the IMD business school in Lausanne, and had also recently turned his hand to stand-up comedy.
Prior to setting up SMI he worked as a director at Weber Shandwick and a senior consultant at Burson-Marsteller, having begun his PR career as European vice-president for Fleishman Hillard.
Before that he was a broadcast journalist, presenting and reporting for the BBC and Channel 4 on business and finance.
He is survived by wife Edwina, a daughter, two stepchildren and a granddaughter.
Roberts' funeral and wake is next Thursday in London – contact SMI via its website for details.