I've worked in robotics for a long time. In robotics nowadays you always end up with a distributed system, where each robot has to have a view of the world, it's mission, etc, and also of each other robot, and also the command and control dashboards do too, etc etc.

Always always always follow parent's advice. Pick one canonical owner for the data, and have everyone query it. Build an estimator at each node that can predict what the robot is doing when you don't have timely data (usually just running a shadow copy of the robot's software), but try to never ever do distributed state.

Even something as simple as a map gets arbitrarily complicated when you're sensing multiple locations. Just push everyone's guesses to a central location and periodically batch update and disseminate updates. You'll be much happier.