ePlanSys (Epistemic Planning System) is a ROS 2 framework that brings Dynamic Epistemic Logic (DEL) reasoning into practical robotic planning.

It extends PlanSys2 with native support for epistemic planning, enabling robots to reason about knowledge, beliefs, and partial observability in multi-robot scenarios.

• EPDDL domain support
• S5 and KD45 epistemic models
• Heuristic search over epistemic states
• Multi-robot coordination under partial observability
• Full integration with the PlanSys2 architecture (Domain Expert, Problem Expert, Planner, Executor, Behavior Trees)
• Designed for real robotic deployment, not just offline solvers

Classical PDDL planning assumes full observability and perfect knowledge. In multi-robot systems this assumption rarely holds. Agents often need to reason about what other agents know (or don’t know) in order to coordinate effectively.

ePlanSys aims to close the gap between formal Dynamic Epistemic Logic research and deployable ROS 2 systems by providing a practical, modular, and extensible epistemic planning stack built on top of PlanSys2.

ePlanSys follows the modular design of PlanSys2 and adds specialized epistemic components:

All classic PlanSys2 nodes (Domain Expert, Problem Expert, Executor, Terminal, etc.) remain available and interoperable.

Detailed installation and usage instructions will be expanded soon.
For now, the system follows the same workspace structure as PlanSys2.

# Clone into your ROS 2 workspace
cd ~/ros2_ws/src
git clone https://github.com/eplansys/eplansys.git

# Install dependencies
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

# Build
colcon build --symlink-install
source install/setup.bash

• PlanSys2 Documentation highly recommended as foundation
• Dynamic Epistemic Logic literature and EPDDL specifications

We welcome contributions! Whether you are interested in:

• New epistemic models
• Heuristic improvements
• Multi-robot experimental scenarios
• Integration with perception / world modeling
• Documentation and examples

…feel free to open issues and pull requests.

Apache License 2.0

If you use ePlanSys in academic work, please cite both this project and PlanSys2:

@inproceedings{PlanSys2,
  author    = {Martín, Francisco and Ginés, Jonatan and Rodríguez, Francisco J. and Matellán, Vicente},
  title     = {PlanSys2: A Planning System Framework for ROS2},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year      = {2021},
  publisher = {IEEE}
}

Made for the robotics community.
Let’s make formal epistemic reasoning practical.