I think most bookshelf speakers, just like most tower speakers, begin at a disadvantage in terms of providing good bass response at the designated listening position regardless of the size of the bass drivers; which is that the drivers for all frequencies are positioned in a single cabinet in some sort of fixed alignment. The bass drivers acually require their own cabinets and the capacity to be independently positioned in the room in relation to the listening position, in order for bass performance to be optimized. Ideally, these independent modules would also have independent controls for volume, crossover frequency and continuously variable phase settings, just as good quality traditional subs possess for optimizing performance and seamless integration with the midrange/treble drivers on the main speakers.
The main issue with this is that the optimum position for the midrange and tweeter drivers, in relation to the listening position, for midrange/treble and imaging are highly unlikely to be the optimum position for the bass drivers in relation to the listening position.
If good bass response at the listening position utilizing the much larger bass drivers of tower speakers is highly unlikely because of the above, I see absolutely no reason to believe that using smaller bass drivers, even multiple smaller bass drivers, would be expected to perform well.
However, I'm certain that even a good quality pair of subs with 10" drivers are capable of vastly exceeding the bass performance at the listening position than the bass drivers on most bookshelf and tower main speakers are capable of providing, regardless of their size. The primary cause of my certainty is the tremendous bass performance advantages gained from the independent room positioning capabilities of sub drivers and subs.
One of the main advantages is ensuring that there are no bass room modes (room locations with obvious bass peaks, dips or nulls) at the listening seat. It's easy to check if your current listening seat is positioned at or near a room bass mode; just listen to the bass response at locations near your listening seat and check if the bass quality varies at various other spots in around your room from.
Tim