Does a mesos slave needs to be contacted by a mesos master?

Can Apache Mesos 'slave' nodes be located on a separe network than the Mesos 'master' nodes? Similarly (for high-availability (HA) deploys), can the Apache Zookeeper nodes used in Mesos 'master' election be deployed on a separate network than the as Mesos 'slave' nodes?

Currently, I have 3 masters+slaves nodes in the cloud, and I want to add a slave installed in my local subnet.

If such a setup is feasible, what are the pros/cons of such a setup?

Thanks!