Multi-microcontroller architecture

I have assembled a multi-microcontroller architecture (H. W. Lee, MSc thesis, Cornell University, May 2008) operating over the internet using a client/server network.  Each client or server program is running in RobotBASIC. (Explained in the book Hardware Interfacing with RobotBASIC, Blankenship and Mishal, 2011, on pages 83-84) The software runs a bit slower than I'd like but the robotic hardware is what dominates overall speed of operation.