Maybe adding "udevplug -W" before the /sbin/dmraid line in the local-top/dmraid 
script would do the job. Or, inspired by https://wiki.ubuntu.com/UdevLvm, 
adding a udev rule like:
SUBSYSTEM=="block", RUN+="watershed /sbin/dmraid -ay -i"

There are similar issues for software raids, see bug #75681.

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dmraid not starting on system boot
https://launchpad.net/bugs/93810

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