Considering the situation described above, Robert and Joan are having "a dilemma."
This is because a dilemma is a situation whereby individuals are having a problem in choosing a choice between two or more options, particularly when both ones are equally desirable or undesirable.
In this case, both Robert and Joan have a dilemma choosing whether they should stay or leave for Japan.
Both options have their advantages and disadvantages. Thus, it is difficult for them to choose one particular alternative easily.
Hence, in this case, it is concluded that a dilemma can make people take more time before deciding.
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