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ROS, ROS2 and Autoware citations recommendations

Hi, I would like to cite ROS, ROS2, and Autoware in an academic publication when describing software architectures and frameworks in robotics/self-driving. For citing ROS, it is well known that we can use:

author=“Morgan Quigley and Brian Gerkey and Ken Conley and Josh Faust and
Tully Foote and Jeremy Leibs and Eric Berger and Rob Wheeler and Andrew Ng”,
title=“ROS: an open-source Robot Operating System”,
booktitle=“Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA)
Workshop on Open Source Robotics”,
month = may,
address=“Kobe, Japan”

But couldn’t find similar entries for ROS2 or any of the Autoware projects. Is there any recommendation on this?



I am not aware of a similar citation (yet) for ROS 2. I would suggest just providing a footnote or reference note with the URL of the ROS 2 landing page: That should be a stable link for future readers.


For ROS 2, I would cite the first peer reviewed conference presentation on the topic, which was at ROSCon 2014 in Chicago: “Next-generation ROS: Building on DDS”, by Dirk Thomas, William Woodall, Esteve Fernandez.


We have a citation for Navigation2, though not on that initial list if that helps.


I take the ‘heart’ as a ‘maybe?’,

S. Macenski, F. Martín, R. White, J. Clavero. The Marathon 2: A Navigation System. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

  author = {Macenski, Steven and Martin, Francisco and White, Ruffin and Ginés Clavero, Jonatan},
  title = {The Marathon 2: A Navigation System},
  booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2020}

Definitely not pushing for use, just an option if its helpful. We do go into ROS vs ROS2 a little in the start so that might be helpful & then the navigation framework introduction.

Thanks @smac, it is useful to have it at hand. As I am currently focusing on the perception and sensing part of the self-driving architecture, won’t be using it. But once I start moving to navigation and planning part, I will check it for sure.

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Hi @gerkey, thanks for the info.

Here’s the bibtex entry, just in case someone else is interested:

address = {Mountain View, CA},
author = {Thomas, Dirk and Woodall, William and Fernandez, Esteve},
booktitle = {ROSCon Chicago 2014},
doi = {10.36288/ROSCon2014-900183},
month = {sep},
publisher = {Open Robotics},
title = {{Next-generation ROS: Building on DDS}},
url = {},
year = {2014}
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The following international conference paper, which is the most cited in ROS 2, would be a candidate.

  title={Exploring the performance of ROS2},
  author={Maruyama, Yuya and Kato, Shinpei and Azumi, Takuya},
  booktitle={Proceedings of the 13th ACM SIGBED International Conference on Embedded Software (EMSOFT)},
} (Open Access)

The following international conference paper was written by early development members of Autoware.

  title={Autoware on board: Enabling autonomous vehicles with embedded systems},
  author={Kato, Shinpei and Tokunaga, Shota and Maruyama, Yuya and Maeda, Seiya and Hirabayashi, Manato and Kitsukawa, Yuki and Monrroy, Abraham and Ando, Tomohito and Fujii, Yusuke and Azumi, Takuya},
  booktitle={Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)},


Thanks @takuya.azumi for those references.