# Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems

arXiv: https://arxiv.org/abs/2303.18237 · HTML: https://mlsanity.com/paper/2303.18237/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Mar 2023.

## Built on by (most cited first, 4 of 4)

- [Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAX](https://mlsanity.com/paper/2606.01478/) (2026)
- [A Methodology for Designing Knowledge-Driven Missions for Robots](https://mlsanity.com/paper/2601.20797/) (2026)
- [aerial-autonomy-stack -- a Faster-than-real-time, Autopilot-agnostic, ROS2 Framework to Simulate and Deploy Perception-based Drones](https://mlsanity.com/paper/2602.07264/) (2026)
- [AeroGen: Agentic Drone Autonomy through Single-Shot Structured Prompting & Drone SDK](https://mlsanity.com/paper/2603.14236/) (2026)

## Abstract (arXiv)

The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to fragmented development efforts. To address this gap, we introduce Aerostack2, a comprehensive, open-source ROS 2 based framework designed for creating versatile and robust multi-robot aerial systems. Aerostack2 features platform independence, a modular plugin architecture, and behavior-based mission control, enabling easy customization and integration across various platforms. In this paper, we detail the full architecture of Aerostack2, which has been tested with several platforms in both simulation and real flights. We demonstrate its effectiveness through multiple validation scenarios, highlighting its potential to accelerate innovation and enhance collaboration in the aerial robotics community.