2025/10/19 by Uday Gopan, Gopan, Uday, Manjari Kulkarni +10
Computer Science · Engineering · #Distributed #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Multiagent Systems (cs.MA) #Parallel #Robotic Path Planning Algorithms #Robotics (cs.RO) #and Cluster Computing (cs.DC)
paper · pdf · doi:10.48550/arxiv.2510.16850
openalex publication_date 2025/10/19 · openalex created_date 2025/10/22 · openalex updated_date 2026/07/28
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.