Multirobot communication

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I am going to develop a multirrobot system and I was told that it is difficult to implement it in ROS because of the capacity of the communications. Probably, I will launch 6 robots which will create many topics (including TOF camera and RGB camera). I am looking for papers, videos or any kind of information about it or about other people's attempts in this field.

Is it possible? Which algorithms of communication can be used?

Thank you