{"ID":2853165,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.16850","arxiv_id":"2510.16850","title":"DiRAC - Distributed Robot Awareness and Consensus","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.","short_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 outcome...","url_abs":"https://arxiv.org/abs/2510.16850","url_pdf":"https://arxiv.org/pdf/2510.16850v1","authors":"[\"Uday Gopan\",\"Manjari Kulkarni\",\"Lakshasri S\",\"Kashish Mittal\",\"Sriram Radhakrishna\",\"Aditya Naskar\",\"Rameshwar DL\"]","published":"2025-10-19T14:21:03Z","proceeding":"cs.MA","tasks":"[\"cs.MA\",\"cs.DC\",\"cs.RO\"]","methods":"[]","has_code":false}