There have been quite a few. But until Ubuntu introduced Upstart, and i am sure someone will claim it was not dependency based, few if any reached mainstream usage. Keep in mind that RHEL6 actually use Upstart as pid1, but you would not guess it as Upstart deals with sysv rc "just fine".

Thing is that systemd is lead by some of the most myopic developers in the Linux community. If is not in use by RHEL or Fedora it does not exist. End result is a litany of NIH projects that could have been avoided had they looked around just a little bit.