diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 86bdc8fa48e612b256365f1beb1c43bfd1d09ec2..099ad8b4b981aeed1cc9e274c25672a1014ee120 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -23,6 +23,7 @@ add_subdirectory(armem_gui)
 add_subdirectory(armem_motions)
 add_subdirectory(armem_mps)
 add_subdirectory(armem_objects)
+add_subdirectory(armem_reasoning)
 add_subdirectory(armem_robot)
 add_subdirectory(armem_robot_state)
 add_subdirectory(armem_skills)
diff --git a/source/RobotAPI/libraries/armem_reasoning/CMakeLists.txt b/source/RobotAPI/libraries/armem_reasoning/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e5ab719013696a566001fee17a6ee0bb26b81929
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/CMakeLists.txt
@@ -0,0 +1,25 @@
+set(LIB_NAME       armem_reasoning)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+
+armarx_add_library(
+    LIBS
+        ArmarXCoreInterfaces ArmarXCore
+        RobotAPICore aron armem
+
+    SOURCES
+        aron_conversions.cpp
+
+    HEADERS
+        aron_conversions.h
+
+    ARON_FILES
+        aron/Anticipation.xml
+)
+
+
+add_library(VisionX::armem_reasoning ALIAS ${LIB_NAME})
+
+add_subdirectory(server)
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a3f481c630d573970ace675032a13becc9ca57fe
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+    <CodeIncludes>
+        <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
+    </CodeIncludes>
+    <AronIncludes>
+        <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true" />
+    </AronIncludes>
+
+    <GenerateTypes>
+        <Object name='armarx::reasoning::arondto::Anticipation'>
+             <ObjectChild key='predictions'>
+                <List optional='true'>
+                    	<string />
+                </List>
+            </ObjectChild>
+        </Object>
+    </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron_conversions.cpp b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e721f12a9349747d7d2b3c6e69a4bc223e5d76ad
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.cpp
@@ -0,0 +1,28 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    VisionX::ArmarXObjects::armem_images_server
+ * @author     Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "aron_conversions.h"
+
+namespace armarx::armem::server::reasoning
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..2e4d7c8bbd2206ed184cfe7e01c2898d81523b04
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h
@@ -0,0 +1,31 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    VisionX::ArmarXObjects::armem_images_server
+ * @author     Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
+#include <RobotAPI/libraries/armem_reasoning/aron/Anticipation.aron.generated.h>
+
+namespace armarx::armem::server::reasoning
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.cpp b/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bf2d89bb748ccf788288bc9632acf55937877125
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.cpp
@@ -0,0 +1,39 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::armem_images_server
+ * @author     Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "AnticipationSegment.h"
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
+namespace armarx::armem::server::reasoning
+{
+    AnticipationSegment::AnticipationSegment(armem::server::MemoryToIceAdapter& iceMemory) :
+        Base(iceMemory, CORE_SEGMENT_NAME)
+    {
+
+    }
+
+    void AnticipationSegment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+    {
+        Base::defineProperties(defs, prefix);
+    }
+}
diff --git a/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.h b/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.h
new file mode 100644
index 0000000000000000000000000000000000000000..3a05c7adb5b9e7d96d51c2e07a6c18f016bc506a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.h
@@ -0,0 +1,46 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    VisionX::ArmarXObjects::armem_images_server
+ * @author     Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+#include <string>
+
+#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
+
+#include <RobotAPI/libraries/armem_reasoning/aron/Anticipation.aron.generated.h>
+
+namespace armarx::armem::server::reasoning
+{
+    class AnticipationSegment : public armem::server::segment::SpecializedCoreSegment
+    {
+    public:
+        using Base = armem::server::segment::SpecializedCoreSegment;
+
+        AnticipationSegment(armem::server::MemoryToIceAdapter& iceMemory);
+
+        virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
+
+    public:
+        const std::string CORE_SEGMENT_NAME = "Anticipation";
+    };
+}
diff --git a/source/RobotAPI/libraries/armem_reasoning/server/CMakeLists.txt b/source/RobotAPI/libraries/armem_reasoning/server/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..248aa1d9ddeb9fbaf90eb4a31d2b5b9219f2937e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/server/CMakeLists.txt
@@ -0,0 +1,22 @@
+set(ARMARX_LIB_NAME "" )
+set(ARON_FILES "")
+
+set(LIB_NAME       armem_reasoning_server)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+    LIBS
+        armem_reasoning
+        armem_server
+
+    SOURCES
+	AnticipationSegment.cpp
+
+    HEADERS
+	AnticipationSegment.h
+)
+
+
+add_library(VisionX::armem_reasoning_server ALIAS ${LIB_NAME})