Kerberos requires an authentication server in order to function, however you do not necessarily have to use Kerberos as your authentication mechanism. If you have an account on the remote computer, you could simply authenticate to it directly.
The right answer for your network will depend very much on how that network is configured. It’s possible to configure systems on a network to use an authentication server on another network, in which case you might be told that this network has no Kerberos server (technically correct, because authentication requests are being forwarded to a Kerberos server on a different network). If this is the case, then there are a number of configuration mistakes that could cause problems with the path to the remote Kerberos server (routing/firewall/IP addressing/VPN tunneling/etc).
On the other hand, if this is a stand-alone P2P network that does not use authentication services provided by another network and does not have its own authentication server, then you will either have to establish an authentication server to support Kerberos or use a different authentication mechanism.