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I'm developing an Arduino-based swarm, each bot having 1 ATMEGA2560 as its main processor and 1-2 ATMEGA328 as sub-processors and a variety of sensors and actuators, with WiFi (LAN) connection in a DigiMesh network (1 host computer/station, signals spreading through nearby bots, bots being nodes each with the same role of spreading signals).
What WiFi module should I use for the individual bots? Also, what communication protocols should I use for communicating between embedded sub-systems in the individual bots and for host-to-bots WiFi communication? (Bots will mostly receive commands and tasks from the host but also send data to host if required).

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