让上万机器人高效协作，实时避障且结果确定。
DiRAC - Distributed Robot Awareness and Consensus
- 分区动态选主+同步共识，保证全局一致
- 基于受力的分布式路径规划，实时避撞
- 在仿真仓库中验证可扩展性，适合物流场景
DiRAC 是一种可扩展的分布式框架，旨在实现超大规模机器人集群的高效任务分配与路径规划。它提出一种新型区域划分架构，采用动态选举的领导者和时钟同步的共识协议，实现强一致性与确定性结果。路径规划方面，DiRAC 使用一种基于受力的去中心化规划算法，实现实时碰撞规避。通过在 ROS 2 中的初步仿真验证，DiRAC 在模拟仓库环境中展现出良好的架构可扩展性与模块化效率，为工业与物流领域的大规模实际部署奠定基础。
原文摘要 · Abstract (English)
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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