# PlanSys2: A Planning System Framework for ROS2

arXiv: https://arxiv.org/abs/2107.00376 · HTML: https://mlsanity.com/paper/2107.00376/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 3 of its 31 references that are in the map.
- First posted on arXiv 1 Jul 2021.

## Builds on (most cited first, 3 of 3)

- [Behavior Trees in Robotics and AI: An Introduction](https://mlsanity.com/paper/1709.00084/) (2017)
- [The Marathon 2: A Navigation System](https://mlsanity.com/paper/2003.00368/) (2020)
- [Optimized Execution of PDDL Plans using Behavior Trees](https://mlsanity.com/paper/2101.01964/) (2021)

## Built on by (most cited first, 6 of 6)

- [When Prolog meets generative models: a new approach for managing knowledge and planning in robotic applications](https://mlsanity.com/paper/2309.15049/) (2023)
- [Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition](https://mlsanity.com/paper/2605.20648/) (2026)
- [ROSA: A Knowledge-based Solution for Robot Self-Adaptation](https://mlsanity.com/paper/2505.00733/) (2025)
- [Model-Based AI planning and Execution Systems for Robotics](https://mlsanity.com/paper/2505.04493/) (2025)
- [Acting and Planning with Hierarchical Operational Models on a Mobile Robot: A Study with RAE+UPOM](https://mlsanity.com/paper/2507.11345/) (2025)
- [APTree: Extended Behavior Trees for Adaptive and Scalable Automated Robotic Task Planning in Construction](https://mlsanity.com/paper/2610.18523/) (2026)

## Abstract (arXiv)

Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state machines are not enough. This paper contains a description of the ROS2 Planning System (PlanSys2 in short), a framework for symbolic planning that incorporates novel approaches for execution on robots working in demanding environments. PlanSys2 aims to be the reference task planning framework in ROS2, the latest version of the em de facto standard in robotics software development. Among its main features, it can be highlighted the optimized execution, based on Behavior Trees, of plans through a new actions auction protocol and its multi-robot planning capabilities. It already has a small but growing community of users and developers, and this document is a summary of the design and capabilities of this project.