The　issues　of　limited　communication　distance　and　task　capability　are　rarely　discussed　in　designing　multi-robot　cooperative　methods.　However,　these　are　important　problems　that　cannot　be　avoided　in　practical　applications.　In　this　paper,　simulation　experiments　are　carried　out　on　some　task　maps　that　are　larger　than　the　team＇s　task　ability.　The　effect　of　the　dispersion　of　members　on　the　team＇s　task　performance　is　tested,　and　the　existing　methods　are　improved　by　introducing　long-range　communication　to　auxiliary　data　sharing.　At　the　same　time,　we　use　the　calculation　of　Energy-Benefit　to　improve　the　task　selection　method　based　on　the　minimum　distance　to　the　target.　Compared　with　existing　strategies,　the　improved　scheme　performs　better　on　communication-constrained　large-map　exploration　tasks.　©　2022　IEEE.