One reason why multirobot systems are preferred, in some contexts, over their single-robot counterparts is that they admit a larger spatial footprint. With multiple robots, it is possible to span a large area, which is desirable in applications such as search and rescue, environmental monitoring, and perimeter patrol [1]. However, as interrobot distances grow, so do the communication delays experienced among the robots, making precise, coordinated control hard to achieve [2]-[5].

中文翻译：

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远距离机器人团队的协调：从佐治亚理工学院到东京理工学院以及11,000公里的多机器人实验

在某些情况下，首选多机器人系统而不是单机器人系统的原因之一是，它们需要更大的空间。使用多个机器人，可以跨越较大的区域，这在诸如搜救，环境监测和外围巡逻[1]等应用中是理想的。但是，随着机器人之间的距离增加，机器人之间的通信延迟也会增加，从而难以实现精确的协调控制[2]-[5]。