-- note:  must be run from one of the managed servers connected to the CMS server instance

SELECT
   server_id                   AS server_id,
   server_groups.name          AS 'server_group_name',
   server_name                 AS server_name,
   shared_servers.description  AS 'server_description',
   (
       SELECT name
       FROM msdb.dbo.sysmanagement_shared_server_groups AS shared_groups
       WHERE shared_groups.is_system_object = 1
       AND shared_servers.server_type = shared_groups.server_type
   ) AS 'server_type_name'
FROM msdb.dbo.sysmanagement_shared_registered_servers AS shared_servers
INNER JOIN msdb.dbo.sysmanagement_shared_server_groups AS server_groups
   ON shared_servers.server_group_id = server_groups.server_group_id;