Trying to network 5 Arduino Yun's into a single application

I am a teacher working with high school students on a project to integrate four remote motors into a single application. Due to the distances involved, we want to use WiFi to connect the devices and are looking at the Arduino Yun as a possible solution. Each of the remote motors will use an H-Bridge for motor control and an optical encoder to sense movement. The four remote motors must be closely coordinated by a fifth Arduino Yun that will operate as the master controller. Has any one tried to create such a network of multiple Yuns and, if so, do you have a sample sketch showing how you configured it and how you set up the messaging between the master controller and multiple remotes? Thanks in advance for your assistance.

PGR

I'd be interested in seeing how one accomplishes this, too, for a separate project. Trying to work out how to make HTTP POST and GET requests on the Yun.