DiRAC is a scalable, distributed framework designed to enable efficient task assignment and path planning in very large robotic swarms. It introduces a novel zone-partitioned architecture with dynamically elected leaders and a tick-synchronized consensus protocol that yields strong consistency and deterministic outcomes. For path planning, DiRAC uses a novel algorithm, a force-based decentralized planner for real-time collision resolution. Validated within ROS 2 middleware through preliminary simulation, DiRAC demonstrates architectural scalability and modular efficiency in simulated warehouse environments, laying the groundwork for real-world deployment in large-scale industrial and logistics domains.
@article{arxiv.2510.16850,
title = {DiRAC - Distributed Robot Awareness and Consensus},
author = {Uday Gopan and Manjari Kulkarni and Lakshasri S and Kashish Mittal and Sriram Radhakrishna and Aditya Naskar and Rameshwar DL},
journal= {arXiv preprint arXiv:2510.16850},
year = {2025}
}