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arXiv · 2510.16850

DiRAC - Distributed Robot Awareness and Consensus

Uday Gopan·Manjari Kulkarni·Lakshasri S·Kashish Mittal·Sriram Radhakrishna·Aditya Naskar·Rameshwar DL
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Abstract

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.

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Uday Gopan, Manjari Kulkarni, Lakshasri S, Kashish Mittal, Sriram Radhakrishna, Aditya Naskar, Rameshwar DL. 2025-10-19. DiRAC - Distributed Robot Awareness and Consensus. https://arxiv.org/abs/2510.16850

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