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.

翻译：DiRAC是一种可扩展的分布式框架，旨在为超大规模机器人集群实现高效的任务分配与路径规划。该框架提出了一种新颖的区域分区架构，采用动态选举领导者机制，并结合基于时间片同步的共识协议，从而提供强一致性保证与确定性结果。在路径规划方面，DiRAC采用了一种创新的基于力的分布式规划算法，可实现实时碰撞消解。通过在ROS 2中间件中进行初步仿真验证，DiRAC在模拟仓库环境中展现出优异的架构可扩展性与模块化效率，为未来在工业与物流领域的大规模实际部署奠定了技术基础。