[ros-users] ROS decentralise architecture, without ROS Maste…

Hi ROS Users,

I am wondering if there any work done about decentralise architecture
for ROS. I mean connection and exchange of services between nodes
without the need of a ROS Master, in an "ad hok mode".

I found no information about this neither in the Wiki, FAQ or ROS Answer
pages.

If you have some information about previous or ongoing work on the
subject I'm interested !

By advance thank you.

Regards,

Gaëtan