mlsanityData to 7 Oct 2026

Robot Operating System 2: Design, Architecture, and Uses In The Wild

arXiv 2211.07752 ↗First posted 14 Nov 2022cs.ROcited by 190

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Abstract (arXiv)

The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that robots share - the need for a modular, scalable, and reliable architecture; sensing; planning; mobility; and autonomy. The Robot Operating System (ROS) was an integral part of the last chapter, demonstrably expediting robotics research with freely-available components and a modular framework. However, ROS 1 was not designed with many necessary production-grade features and algorithms. ROS 2 and its related projects have been redesigned from the ground up to meet the challenges set forth by modern robotic systems in new and exploratory domains at all scales. In this review, we highlight the philosophical and architectural changes of ROS 2 powering this new chapter in the robotics revolution. We also show through case studies the influence ROS 2 and its adoption has had on accelerating real robot systems to reliable deployment in an assortment of challenging environments.

Key facts. Cited by 190 papers in the map (data through 7 Oct 2026). First posted on arXiv 14 Nov 2022.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 22; 2024: 39; 2025: 52; 2026: 75.

190 papers.

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  1. 2023Cognitive Architectures for Language Agentscited by 422
  2. 2024OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completioncited by 78
  3. 2024ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperationcited by 61
  4. 2024LidarDM: Generative LiDAR Simulation in a Generated Worldcited by 53
  5. 2025Multi-agent Embodied AI: Advances and Future Directionscited by 36
  6. 2024Multi-Agent Reinforcement Learning for Autonomous Driving: A Surveycited by 30
  7. 2024ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoningcited by 27
  8. 2024VLM-Auto: VLM-based Autonomous Driving Assistant with Human-like Behavior and Understanding for Complex Road Scenescited by 22
  9. 2024RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-Worldcited by 22
  10. 2023Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systemscited by 21
  11. 2025VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotioncited by 20
  12. 2023LLM-MARS: Large Language Model for Behavior Tree Generation and NLP-enhanced Dialogue in Multi-Agent Robot Systemscited by 17
38 more
  1. 2024Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agentcited by 16
  2. 2024FRENETIX: A High-Performance and Modular Motion Planning Framework for Autonomous Drivingcited by 14
  3. 2025DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectoriescited by 14
  4. 2025Memory-Centric Embodied Question Answeringcited by 12
  5. 2023A System for Generalized 3D Multi-Object Searchcited by 9
  6. 2024InCoRo: In-Context Learning for Robotics Control with Feedback Loopscited by 9
  7. 2023Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamicscited by 7
  8. 2023Sample-Efficient Learning to Solve a Real-World Labyrinth Game Using Data-Augmented Model-Based Reinforcement Learningcited by 7
  9. 2023Autonomous Rendezvous with Non-cooperative Target Objects with Swarm Chasers and Observerscited by 6
  10. 2024HawkDrive: A Transformer-driven Visual Perception System for Autonomous Driving in Night Scenecited by 6
  11. 2025The Monado SLAM Dataset for Egocentric Visual-Inertial Trackingcited by 6
  12. 2025GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM Systemcited by 6
  13. 2026ALRM: Agentic LLM for Robotic Manipulationcited by 6
  14. 2026Embodied Foundation Models at the Edge: A Survey of Deployment Constraints and Mitigation Strategiescited by 6
  15. 2026AEROS: A Single-Agent Operating Architecture with Embodied Capability Modulescited by 6
  16. 2025Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robotscited by 5
  17. 2026CARLA-Air: Fly Drones Inside a CARLA World -- A Unified Infrastructure for Air-Ground Embodied Intelligencecited by 5
  18. 2023I Was Blind but Now I See: Implementing Vision-Enabled Dialogue in Social Robotscited by 4
  19. 2023Weathering Ongoing Uncertainty: Learning and Planning in a Time-Varying Partially Observable Environmentcited by 4
  20. 2024Enhancing Robot Explanation Capabilities through Vision-Language Models: a Preliminary Study by Interpreting Visual Inputs for Improved Human-Robot Interactioncited by 4
  21. 2024Soar: Design and Deployment of A Smart Roadside Infrastructure System for Autonomous Drivingcited by 4
  22. 2024Go-SLAM: Grounded Object Segmentation and Localization with Gaussian Splatting SLAMcited by 4
  23. 2022PIC4rl-gym: a ROS2 modular framework for Robots Autonomous Navigation with Deep Reinforcement Learningcited by 3
  24. 2023SAGE-ICP: Semantic Information-Assisted ICPcited by 3
  25. 2024ROSpace: Intrusion Detection Dataset for a ROS2-Based Cyber-Physical Systemcited by 3
  26. 2024Mixed Strategy Nash Equilibrium for Crowd Navigationcited by 3
  27. 2024SwarmRL: Building the Future of Smart Active Systemscited by 3
  28. 2024Survey on Datasets for Perception in Unstructured Outdoor Environmentscited by 3
  29. 2024On-Device Self-Supervised Learning of Low-Latency Monocular Depth from Only Eventscited by 3
  30. 2024Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysiscited by 3
  31. 2024Autoware.Flex: Human-Instructed Dynamically Reconfigurable Autonomous Driving Systemscited by 3
  32. 2025GS-GVINS: A Tightly-integrated GNSS-Visual-Inertial Navigation System Augmented by 3D Gaussian Splattingcited by 3
  33. 2025ADAPT: An Autonomous Forklift for Construction Site Operationcited by 3
  34. 2025Space Robotics Bench: Robot Learning Beyond Earthcited by 3
  35. 2025Large Language Model-assisted Autonomous Vehicle Recovery from Immobilizationcited by 3
  36. 2025ShelfGaussian: Shelf-Supervised Open-Vocabulary Gaussian-based 3D Scene Understandingcited by 3
  37. 2025RoboNeuron: A Middle-Layer Infrastructure for Agent-Driven Orchestration in Embodied AIcited by 3
  38. 2026Your Vision-Language-Action Model Already Has Attention Heads For Path Deviation Detectioncited by 3

50 most cited of 190 All 190 (JSON)