diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
index 8bc71db869..8260f55093 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
@@ -137,6 +137,7 @@ enum TraceEvent
     TraceRaftPersistStateUpdateError,   // negative error code
     TraceRaftCommitIndexUpdate,         // new commit index value
     TraceRaftNewerTermInResponse,       // new term value
+    TraceRaftNewEntryCommitted,         // new commit index value
 
     NumTraceEventCodes
 };
@@ -521,6 +522,8 @@ class RaftCore : private TimerBase
 
     void tryIncrementCurrentTermFromResponse(Term new_term);
 
+    void propagateCommitIndex();
+
     void handleAppendEntriesRequest(const ReceivedDataStructure<AppendEntries::Request>& request,
                                     ServiceResponseDataStructure<AppendEntries::Response>& response);
 
diff --git a/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp b/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
index cf23c22265..85d83010dc 100644
--- a/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+++ b/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
@@ -883,6 +883,7 @@ void RaftCore::updateCandidate(const MonotonicTime& current_time)
 void RaftCore::updateLeader(const MonotonicTime& current_time)
 {
     (void)current_time;
+    propagateCommitIndex();
 }
 
 void RaftCore::switchState(const ServerState new_state)
@@ -931,6 +932,55 @@ void RaftCore::tryIncrementCurrentTermFromResponse(Term new_term)
     switchState(ServerStateFollower);
 }
 
+void RaftCore::propagateCommitIndex()
+{
+    // Objective is to estimate whether we can safely increment commit index value
+    UAVCAN_ASSERT(server_state_ == ServerStateLeader);
+
+    if (commit_index_ == persistent_state_.getLog().getLastIndex())
+    {
+        // All local entries are committed
+        bool commit_index_fully_replicated = true;
+
+        for (uint8_t i = 0; i < cluster_.getNumKnownServers(); i++)
+        {
+            const Log::Index match_index = cluster_.getServerMatchIndex(cluster_.getRemoteServerNodeIDAtIndex(i));
+            if (match_index != commit_index_)
+            {
+                commit_index_fully_replicated = false;
+                break;
+            }
+        }
+
+        if (commit_index_fully_replicated && cluster_.isClusterDiscovered())
+        {
+            setActiveMode(false);  // Commit index is the same on all nodes, enabling passive mode
+        }
+    }
+    else
+    {
+        // Not all local entries are committed
+        setActiveMode(true);
+
+        uint8_t num_nodes_with_next_log_entry_available = 1; // Local node
+        for (uint8_t i = 0; i < cluster_.getNumKnownServers(); i++)
+        {
+            const Log::Index match_index = cluster_.getServerMatchIndex(cluster_.getRemoteServerNodeIDAtIndex(i));
+            if (match_index > commit_index_)
+            {
+                num_nodes_with_next_log_entry_available++;
+            }
+        }
+
+        if (num_nodes_with_next_log_entry_available >= cluster_.getQuorumSize())
+        {
+            commit_index_++;
+            trace(TraceRaftNewEntryCommitted, commit_index_);
+            // AT THIS POINT ALLOCATION IS COMPLETE
+        }
+    }
+}
+
 void RaftCore::handleAppendEntriesRequest(const ReceivedDataStructure<AppendEntries::Request>& request,
                                           ServiceResponseDataStructure<AppendEntries::Response>& response)
 {
diff --git a/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp b/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
index 83e85618ad..fa5bd78964 100644
--- a/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+++ b/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
@@ -801,3 +801,12 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerThreeServers)
     ASSERT_EQ(log.getLastIndex() + 1, mgr.getServerNextIndex(2));
     ASSERT_EQ(log.getLastIndex() + 1, mgr.getServerNextIndex(127));
 }
+
+
+TEST(DynamicNodeIDAllocationServer, ObjectSizes)
+{
+    std::cout << "Log:             " << sizeof(uavcan::dynamic_node_id_server_impl::Log) << std::endl;
+    std::cout << "PersistentState: " << sizeof(uavcan::dynamic_node_id_server_impl::PersistentState) << std::endl;
+    std::cout << "ClusterManager:  " << sizeof(uavcan::dynamic_node_id_server_impl::ClusterManager) << std::endl;
+    std::cout << "RaftCore:        " << sizeof(uavcan::dynamic_node_id_server_impl::RaftCore) << std::endl;
+}