diff --git a/Cargo.lock b/Cargo.lock
index 400f78b..74957f7 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -198,9 +198,12 @@ dependencies = [
  "prost",
  "serde",
  "serde_json",
+ "thiserror",
  "tokio",
  "tonic",
  "tonic-build",
+ "tracing",
+ "tracing-subscriber",
 ]
 
 [[package]]
@@ -460,6 +463,12 @@ version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d75a2a4b1b190afb6f5425f10f6a8f959d2ea0b9c2b1d79553551850539e4674"
 
+[[package]]
+name = "lazy_static"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
+
 [[package]]
 name = "libc"
 version = "0.2.169"
@@ -532,6 +541,16 @@ version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "defc4c55412d89136f966bbb339008b474350e5e6e78d2714439c386b3137a03"
 
+[[package]]
+name = "nu-ansi-term"
+version = "0.46.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77a8165726e8236064dbb45459242600304b42a5ea24ee2948e18e023bf7ba84"
+dependencies = [
+ "overload",
+ "winapi",
+]
+
 [[package]]
 name = "object"
 version = "0.36.7"
@@ -547,6 +566,12 @@ version = "1.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "945462a4b81e43c4e3ba96bd7b49d834c6f61198356aa858733bc4acf3cbe62e"
 
+[[package]]
+name = "overload"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
+
 [[package]]
 name = "parking_lot"
 version = "0.12.3"
@@ -844,6 +869,15 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "sharded-slab"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f40ca3c46823713e0d4209592e8d6e826aa57e928f09752619fc696c499637f6"
+dependencies = [
+ "lazy_static",
+]
+
 [[package]]
 name = "signal-hook-registry"
 version = "1.4.2"
@@ -909,6 +943,36 @@ dependencies = [
  "windows-sys",
 ]
 
+[[package]]
+name = "thiserror"
+version = "2.0.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d452f284b73e6d76dd36758a0c8684b1d5be31f92b89d07fd5822175732206fc"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "2.0.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26afc1baea8a989337eeb52b6e72a039780ce45c3edfcc9c5b9d112feeb173c2"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "thread_local"
+version = "1.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b9ef9bad013ada3808854ceac7b46812a6465ba368859a37e2100283d2d719c"
+dependencies = [
+ "cfg-if",
+ "once_cell",
+]
+
 [[package]]
 name = "tokio"
 version = "1.43.0"
@@ -1081,6 +1145,32 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e672c95779cf947c5311f83787af4fa8fffd12fb27e4993211a84bdfd9610f9c"
 dependencies = [
  "once_cell",
+ "valuable",
+]
+
+[[package]]
+name = "tracing-log"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee855f1f400bd0e5c02d150ae5de3840039a3f54b025156404e34c23c03f47c3"
+dependencies = [
+ "log",
+ "once_cell",
+ "tracing-core",
+]
+
+[[package]]
+name = "tracing-subscriber"
+version = "0.3.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e8189decb5ac0fa7bc8b96b7cb9b2701d60d48805aca84a238004d665fcc4008"
+dependencies = [
+ "nu-ansi-term",
+ "sharded-slab",
+ "smallvec",
+ "thread_local",
+ "tracing-core",
+ "tracing-log",
 ]
 
 [[package]]
@@ -1095,6 +1185,12 @@ version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
 
+[[package]]
+name = "valuable"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba73ea9cf16a25df0c8caa16c51acb937d5712a8429db78a3ee29d5dcacd3a65"
+
 [[package]]
 name = "want"
 version = "0.3.1"
@@ -1119,6 +1215,28 @@ dependencies = [
  "wit-bindgen-rt",
 ]
 
+[[package]]
+name = "winapi"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
+dependencies = [
+ "winapi-i686-pc-windows-gnu",
+ "winapi-x86_64-pc-windows-gnu",
+]
+
+[[package]]
+name = "winapi-i686-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
+
+[[package]]
+name = "winapi-x86_64-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
 [[package]]
 name = "windows-sys"
 version = "0.52.0"
diff --git a/Cargo.toml b/Cargo.toml
index 8f28140..8e47e67 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -9,6 +9,9 @@ serde = { version = "1.0.217", features = ["derive"] }
 serde_json = "1.0.138"
 tokio = { version = "1.43.0", features = ["full"] }
 tonic = "0.12.3"
+thiserror = "2.0"
+tracing = "0.1"
+tracing-subscriber = "0.3"
 
 [build-dependencies]
 tonic-build = "0.12.3"
diff --git a/src/discovery.rs b/src/discovery.rs
new file mode 100644
index 0000000..e562c21
--- /dev/null
+++ b/src/discovery.rs
@@ -0,0 +1,260 @@
+use crate::topology::DeviceCapabilities;
+use serde::{Deserialize, Serialize};
+use std::{
+    collections::HashMap,
+    net::{IpAddr, SocketAddr},
+    sync::Arc,
+    time::{Duration, Instant},
+};
+use thiserror::Error;
+use tokio::{net::UdpSocket, sync::RwLock, time};
+use tracing::{error};
+
+#[derive(Error, Debug)]
+pub enum DiscoveryError {
+    #[error("IO error: {0}")]
+    Io(#[from] std::io::Error),
+
+    #[error("JSON serialization error: {0}")]
+    Json(#[from] serde_json::Error),
+
+    #[error("UTF-8 conversion error: {0}")]
+    Utf8(#[from] std::string::FromUtf8Error),
+
+    #[error("Address parse error: {0}")]
+    AddrParse(#[from] std::net::AddrParseError),
+
+    #[error("Network interface error: {0}")]
+    NetworkInterface(String),
+
+    #[error("Peer error: {0}")]
+    Peer(String),
+}
+
+// Constants
+const DEBUG: i32 = 0;
+const BROADCAST_ADDR: &str = "255.255.255.255";
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+struct DiscoveryMessage {
+    message_type: String,
+    node_id: String,
+    grpc_port: u16,
+    device_capabilities: DeviceCapabilities,
+    priority: i32,
+    interface_name: String,
+    interface_type: String,
+}
+
+struct PeerInfo {
+    peer_handle: PeerHandle,
+    connected_at: Instant,
+    last_seen: Instant,
+    priority: i32,
+}
+
+struct UdpDiscovery {
+    node_id: String,
+    node_port: u16,
+    listen_port: u16,
+    broadcast_port: u16,
+    broadcast_interval: Duration,
+    discovery_timeout: Duration,
+    device_capabilities: DeviceCapabilities,
+    allowed_node_ids: Option<Vec<String>>,
+    allowed_interface_types: Option<Vec<String>>,
+    known_peers: Arc<RwLock<HashMap<String, PeerInfo>>>,
+}
+
+impl UdpDiscovery {
+    pub fn new(
+        node_id: String,
+        node_port: u16,
+        listen_port: u16,
+        broadcast_port: u16,
+        broadcast_interval: Duration,
+        discovery_timeout: Duration,
+        device_capabilities: DeviceCapabilities,
+        allowed_node_ids: Option<Vec<String>>,
+        allowed_interface_types: Option<Vec<String>>,
+    ) -> Self {
+        Self {
+            node_id,
+            node_port,
+            listen_port,
+            broadcast_port,
+            broadcast_interval,
+            discovery_timeout,
+            device_capabilities,
+            allowed_node_ids,
+            allowed_interface_types,
+            known_peers: Arc::new(RwLock::new(HashMap::new())),
+        }
+    }
+
+    pub async fn start(&self) -> Result<(), DiscoveryError> {
+        let broadcast_task = self.task_broadcast_presence();
+        let listen_task = self.task_listen_for_peers();
+        let cleanup_task = self.task_cleanup_peers();
+
+        tokio::try_join!(broadcast_task, listen_task, cleanup_task)?;
+        Ok(())
+    }
+}
+
+impl UdpDiscovery {
+    async fn task_listen_for_peers(&self) -> Result<(), DiscoveryError> {
+        let socket = UdpSocket::bind(format!("0.0.0.0:{}", self.listen_port)).await?;
+        let mut buf = vec![0u8; 65535];
+
+        loop {
+            let (len, addr) = socket.recv_from(&mut buf).await?;
+            if len == 0 {
+                continue;
+            }
+
+            if let Ok(message) = String::from_utf8(buf[..len].to_vec()) {
+                if let Ok(discovery_message) = serde_json::from_str::<DiscoveryMessage>(&message) {
+                    self.handle_discovery_message(discovery_message, addr)
+                        .await
+                        .map_err(|e| DiscoveryError::Peer(e.to_string()))?;
+                }
+            }
+        }
+    }
+}
+
+impl UdpDiscovery {
+    async fn task_broadcast_presence(&self) -> Result<(), DiscoveryError> {
+        let socket = UdpSocket::bind("0.0.0.0:0").await?;
+        socket.set_broadcast(true)?;
+
+        loop {
+            let interfaces = get_all_ip_addresses_and_interfaces()?;
+            for (addr, interface_name) in interfaces {
+                let (interface_priority, interface_type) =
+                    get_interface_priority_and_type(&interface_name)
+                        .await
+                        .map_err(|e| DiscoveryError::NetworkInterface(e.to_string()))?;
+
+                let message = DiscoveryMessage {
+                    message_type: "discovery".to_string(),
+                    node_id: self.node_id.clone(),
+                    grpc_port: self.node_port,
+                    device_capabilities: self.device_capabilities.clone(),
+                    priority: interface_priority,
+                    interface_name: interface_name.clone(),
+                    interface_type: interface_type.clone(),
+                };
+
+                let message_json = serde_json::to_string(&message)?;
+                let broadcast_addr =
+                    SocketAddr::new(get_broadcast_address(&addr).parse()?, self.broadcast_port);
+
+                if let Err(e) = socket
+                    .send_to(message_json.as_bytes(), &broadcast_addr)
+                    .await
+                {
+                    error!("Error broadcasting to {}: {}", broadcast_addr, e);
+                }
+            }
+
+            time::sleep(self.broadcast_interval).await;
+        }
+    }
+}
+
+impl UdpDiscovery {
+    async fn task_cleanup_peers(&self) -> Result<(), DiscoveryError> {
+        loop {
+            let now = Instant::now();
+
+            // TODO: Do we really want a read then write lock or should we just take a write lock
+            //  to begin with?
+            let peers_to_remove = {
+                let mut peers_to_remove = Vec::new();
+
+                let peers = self.known_peers.read().await;
+                for (peer_id, peer_info) in peers.iter() {
+                    if self.should_remove_peer(peer_info, now).await {
+                        peers_to_remove.push(peer_id.clone());
+                    }
+                }
+
+                peers_to_remove
+            };
+
+            {
+                let mut peers = self.known_peers.write().await;
+                for peer_id in peers_to_remove {
+                    peers.remove(&peer_id);
+                }
+            };
+
+            time::sleep(self.broadcast_interval).await;
+        }
+    }
+
+    async fn should_remove_peer(&self, peer_info: &PeerInfo, now: Instant) -> bool {
+        let is_connected = peer_info
+            .peer_handle
+            .is_connected()
+            .await
+            .ok()
+            .unwrap_or(false);
+
+        if !is_connected {
+            return true;
+        }
+
+        if now.duration_since(peer_info.connected_at) > self.discovery_timeout {
+            return true;
+        }
+
+        if now.duration_since(peer_info.last_seen) > self.discovery_timeout {
+            return true;
+        }
+
+        peer_info
+            .peer_handle
+            .health_check()
+            .await
+            .ok()
+            .unwrap_or(false)
+    }
+}
+
+fn get_broadcast_address(ip_addr: &IpAddr) -> String {
+    match ip_addr {
+        IpAddr::V4(addr) => {
+            let octets = addr.octets();
+            format!("{}.{}.{}.255", octets[0], octets[1], octets[2])
+        }
+        _ => BROADCAST_ADDR.to_string(),
+    }
+}
+
+// You'll need to implement these functions based on your system
+fn get_all_ip_addresses_and_interfaces() -> Result<Vec<(IpAddr, String)>, DiscoveryError> {
+    // Implementation needed
+    Ok(vec![])
+}
+
+async fn get_interface_priority_and_type(
+    interface_name: &str,
+) -> Result<(i32, String), DiscoveryError> {
+    // Implementation needed
+    Ok((0, "unknown".to_string()))
+}
+
+struct PeerHandle;
+
+impl PeerHandle {
+    async fn is_connected(&self) -> Result<bool, DiscoveryError> {
+        Ok(true)
+    }
+
+    async fn health_check(&self) -> Result<bool, DiscoveryError> {
+        Ok(true)
+    }
+}
diff --git a/src/main.rs b/src/main.rs
index feb4e2f..5fb1fec 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,4 +1,5 @@
 mod topology;
+mod discovery;
 
 use serde::{Deserialize, Serialize};
 use serde_json::Value;
@@ -9,7 +10,7 @@ use crate::node_service::{
     PromptRequest, SendOpaqueStatusRequest, SendResultRequest, Tensor, Topology as TopologyProto,
 };
 use node_service::node_service_server::{NodeService, NodeServiceServer};
-use node_service::{Shard, TensorRequest};
+use node_service::{TensorRequest};
 use topology::Topology;
 
 pub mod node_service {
@@ -36,6 +37,15 @@ enum OpaqueStatus {
     SupportedInferenceEngines(SupportedInferenceEngines),
 }
 
+#[derive(Debug, Deserialize, Serialize, Clone)]
+struct Shard {
+    pub model_id: String,
+    pub start_layer: i32,
+    pub end_layer: i32,
+    pub n_layers: i32,
+}
+
+
 #[derive(Debug, Deserialize, Serialize, Clone)]
 struct NodeStatus {
     node_id: String,
@@ -69,7 +79,7 @@ struct SupportedInferenceEngines {
 }
 
 impl Node {
-    fn on_opaque_status(&self, request_id: String, status: String) {
+    fn on_opaque_status(&self, _request_id: String, status: String) {
         let status = serde_json::from_str::<OpaqueStatus>(&status).unwrap();
 
         match status {
@@ -140,7 +150,7 @@ impl NodeService for Node {
     async fn collect_topology(
         &self,
         request: Request<CollectTopologyRequest>,
-    ) -> Result<Response<Topology>, Status> {
+    ) -> Result<Response<TopologyProto>, Status> {
         todo!()
     }
 
@@ -155,8 +165,10 @@ impl NodeService for Node {
         &self,
         request: Request<SendOpaqueStatusRequest>,
     ) -> Result<Response<Empty>, Status> {
-        let request_id = request.into_inner().request_id;
-        let status = request.into_inner().status;
+        let request = request.into_inner();
+        let request_id = request.request_id;
+        let status = request.status;
+
         println!(
             "Received SendOpaqueStatus request: {} {}",
             request_id, status
@@ -174,6 +186,9 @@ impl NodeService for Node {
 
 #[tokio::main]
 async fn main() -> Result<(), Box<dyn std::error::Error>> {
+    // install global collector configured based on RUST_LOG env var.
+    tracing_subscriber::fmt::init();
+
     let grpc_addr = "[::1]:50051".parse()?;
     let node = Node::default();