DiRAC - Distributed Robot Awareness and Consensus
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arXiv
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| Hauptverfasser: | , , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866917026769928192 |
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| author | Gopan, Uday Kulkarni, Manjari S, Lakshasri Mittal, Kashish Radhakrishna, Sriram Naskar, Aditya DL, Rameshwar |
| author_facet | Gopan, Uday Kulkarni, Manjari S, Lakshasri Mittal, Kashish Radhakrishna, Sriram Naskar, Aditya DL, Rameshwar |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_16850 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | DiRAC - Distributed Robot Awareness and Consensus Gopan, Uday Kulkarni, Manjari S, Lakshasri Mittal, Kashish Radhakrishna, Sriram Naskar, Aditya DL, Rameshwar Multiagent Systems Distributed, Parallel, and Cluster Computing Robotics 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. |
| title | DiRAC - Distributed Robot Awareness and Consensus |
| topic | Multiagent Systems Distributed, Parallel, and Cluster Computing Robotics |
| url | https://arxiv.org/abs/2510.16850 |