> is asio as robust as ACE?
Probably not. ACE has been in wide use for a much longer time.
> the performance between asio and ACE
ACE is heavyweight in terms of memory footprint; asio is not.
In terms of speed, it shouldn't make a difference: you can execute a few million instructions in the time it takes to send a single packet over TCP/IP.
> could I use asio and ACE together?
You certainly could. But ACE does tend to impose a particular architectural structure for your program, which it supports quite well; with asio you might have to write some extra code to conform to that architecture.