diff --git a/cartographer_grpc/framework/event_queue_thread.cc b/cartographer_grpc/framework/event_queue_thread.cc
new file mode 100644
index 0000000..f4ac275
--- /dev/null
+++ b/cartographer_grpc/framework/event_queue_thread.cc
@@ -0,0 +1,44 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cartographer_grpc/framework/event_queue_thread.h"
+
+#include "cartographer/common/make_unique.h"
+#include "glog/logging.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+EventQueueThread::EventQueueThread() {
+  event_queue_ = cartographer::common::make_unique<EventQueue>();
+}
+
+EventQueue* EventQueueThread::event_queue() { return event_queue_.get(); }
+
+void EventQueueThread::Start(EventQueueRunner runner) {
+  CHECK(!thread_);
+  EventQueue* event_queue = event_queue_.get();
+  thread_ = cartographer::common::make_unique<std::thread>(
+      [event_queue, runner]() { runner(event_queue); });
+}
+
+void EventQueueThread::Shutdown() {
+  LOG(INFO) << "Shutting down event queue " << event_queue_.get();
+  thread_->join();
+}
+
+}  // namespace framework
+}  // namespace cartographer_grpc
diff --git a/cartographer_grpc/framework/event_queue_thread.h b/cartographer_grpc/framework/event_queue_thread.h
new file mode 100644
index 0000000..e7d2189
--- /dev/null
+++ b/cartographer_grpc/framework/event_queue_thread.h
@@ -0,0 +1,50 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_EVENT_QUEUE_THREAD_H
+#define CARTOGRAPHER_GRPC_FRAMEWORK_EVENT_QUEUE_THREAD_H
+
+#include <memory>
+#include <thread>
+
+#include "cartographer/common/blocking_queue.h"
+#include "cartographer_grpc/framework/rpc.h"
+
+namespace cartographer_grpc {
+namespace framework {
+
+using EventQueue = cartographer::common::BlockingQueue<Rpc::RpcEvent*>;
+
+class EventQueueThread {
+ public:
+  using EventQueueRunner = std::function<void(EventQueue*)>;
+
+  EventQueueThread();
+
+  EventQueue* event_queue();
+
+  void Start(EventQueueRunner runner);
+  void Shutdown();
+
+ private:
+  std::unique_ptr<EventQueue> event_queue_;
+  std::unique_ptr<std::thread> thread_;
+};
+
+}  // namespace framework
+}  // namespace cartographer_grpc
+
+#endif  // CARTOGRAPHER_GRPC_FRAMEWORK_EVENT_QUEUE_THREAD_H
diff --git a/cartographer_grpc/framework/rpc.cc b/cartographer_grpc/framework/rpc.cc
index e52d609..5dd5690 100644
--- a/cartographer_grpc/framework/rpc.cc
+++ b/cartographer_grpc/framework/rpc.cc
@@ -42,11 +42,12 @@ void SendUnaryFinish(ReaderWriter* reader_writer, ::grpc::Status status,
 
 Rpc::Rpc(int method_index,
          ::grpc::ServerCompletionQueue* server_completion_queue,
-         ExecutionContext* execution_context,
+         EventQueue* event_queue, ExecutionContext* execution_context,
          const RpcHandlerInfo& rpc_handler_info, Service* service,
          WeakPtrFactory weak_ptr_factory)
     : method_index_(method_index),
       server_completion_queue_(server_completion_queue),
+      event_queue_(event_queue),
       execution_context_(execution_context),
       rpc_handler_info_(rpc_handler_info),
       service_(service),
@@ -65,7 +66,7 @@ Rpc::Rpc(int method_index,
 
 std::unique_ptr<Rpc> Rpc::Clone() {
   return cartographer::common::make_unique<Rpc>(
-      method_index_, server_completion_queue_, execution_context_,
+      method_index_, server_completion_queue_, event_queue_, execution_context_,
       rpc_handler_info_, service_, weak_ptr_factory_);
 }
 
diff --git a/cartographer_grpc/framework/rpc.h b/cartographer_grpc/framework/rpc.h
index 094015e..0c2ddb4 100644
--- a/cartographer_grpc/framework/rpc.h
+++ b/cartographer_grpc/framework/rpc.h
@@ -21,6 +21,7 @@
 #include <queue>
 #include <unordered_set>
 
+#include "cartographer/common/blocking_queue.h"
 #include "cartographer/common/mutex.h"
 #include "cartographer_grpc/framework/execution_context.h"
 #include "cartographer_grpc/framework/rpc_handler_interface.h"
@@ -37,15 +38,17 @@ namespace framework {
 class Service;
 class Rpc {
  public:
+  struct RpcEvent;
+  using EventQueue = cartographer::common::BlockingQueue<RpcEvent*>;
   using WeakPtrFactory = std::function<std::weak_ptr<Rpc>(Rpc*)>;
   enum class Event { NEW_CONNECTION = 0, READ, WRITE, FINISH, DONE };
   struct RpcEvent {
     const Event event;
     std::weak_ptr<Rpc> rpc;
+    bool ok;
   };
-
   Rpc(int method_index, ::grpc::ServerCompletionQueue* server_completion_queue,
-      ExecutionContext* execution_context,
+      EventQueue* event_queue, ExecutionContext* execution_context,
       const RpcHandlerInfo& rpc_handler_info, Service* service,
       WeakPtrFactory weak_ptr_factory);
   std::unique_ptr<Rpc> Clone();
@@ -60,6 +63,8 @@ class Rpc {
   void SetRpcEventState(Event event, bool pending);
   bool IsRpcEventPending(Event event);
   bool IsAnyEventPending();
+  void SetEventQueue(EventQueue* event_queue) { event_queue_ = event_queue; }
+  EventQueue* event_queue() { return event_queue_; }
 
  private:
   struct SendItem {
@@ -84,6 +89,7 @@ class Rpc {
 
   int method_index_;
   ::grpc::ServerCompletionQueue* server_completion_queue_;
+  EventQueue* event_queue_;
   ExecutionContext* execution_context_;
   RpcHandlerInfo rpc_handler_info_;
   Service* service_;
diff --git a/cartographer_grpc/framework/server.cc b/cartographer_grpc/framework/server.cc
index 6a3e2fa..adb1042 100644
--- a/cartographer_grpc/framework/server.cc
+++ b/cartographer_grpc/framework/server.cc
@@ -20,9 +20,19 @@
 
 namespace cartographer_grpc {
 namespace framework {
+namespace {
 
-void Server::Builder::SetNumberOfThreads(const size_t number_of_threads) {
-  options_.number_of_threads = number_of_threads;
+const cartographer::common::Duration kPopEventTimeout =
+    cartographer::common::FromMilliseconds(100);
+
+}  // namespace
+
+void Server::Builder::SetNumGrpcThreads(const size_t num_grpc_threads) {
+  options_.num_grpc_threads = num_grpc_threads;
+}
+
+void Server::Builder::SetNumEventThreads(const std::size_t num_event_threads) {
+  options_.num_event_threads = num_event_threads;
 }
 
 void Server::Builder::SetServerAddress(const std::string& server_address) {
@@ -41,8 +51,12 @@ Server::Server(const Options& options) : options_(options) {
   server_builder_.AddListeningPort(options_.server_address,
                                    grpc::InsecureServerCredentials());
 
+  // Set up event queue threads.
+  event_queue_threads_ =
+      std::vector<EventQueueThread>(options_.num_event_threads);
+
   // Set up completion queues threads.
-  for (size_t i = 0; i < options_.number_of_threads; ++i) {
+  for (size_t i = 0; i < options_.num_grpc_threads; ++i) {
     completion_queue_threads_.emplace_back(
         server_builder_.AddCompletionQueue());
   }
@@ -52,9 +66,10 @@ void Server::AddService(
     const std::string& service_name,
     const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos) {
   // Instantiate and register service.
-  const auto result =
-      services_.emplace(std::piecewise_construct, std::make_tuple(service_name),
-                        std::make_tuple(service_name, rpc_handler_infos));
+  const auto result = services_.emplace(
+      std::piecewise_construct, std::make_tuple(service_name),
+      std::make_tuple(service_name, rpc_handler_infos,
+                      [this]() { return SelectNextEventQueueRoundRobin(); }));
   CHECK(result.second) << "A service named " << service_name
                        << " already exists.";
   server_builder_.RegisterService(&result.first->second);
@@ -66,12 +81,43 @@ void Server::RunCompletionQueue(
   void* tag;
   while (completion_queue->Next(&tag, &ok)) {
     auto* rpc_event = static_cast<Rpc::RpcEvent*>(tag);
+    rpc_event->ok = ok;
     if (auto rpc = rpc_event->rpc.lock()) {
-      rpc->service()->HandleEvent(rpc_event->event, rpc.get(), ok);
+      rpc->event_queue()->Push(rpc_event);
     } else {
       LOG(WARNING) << "Ignoring stale event.";
     }
-    delete rpc_event;
+  }
+}
+
+void Server::ProcessRpcEvent(Rpc::RpcEvent* rpc_event) {
+  if (auto rpc = rpc_event->rpc.lock()) {
+    rpc->service()->HandleEvent(rpc_event->event, rpc.get(), rpc_event->ok);
+  } else {
+    LOG(WARNING) << "Ignoring stale event.";
+  }
+  delete rpc_event;
+}
+
+EventQueue* Server::SelectNextEventQueueRoundRobin() {
+  cartographer::common::MutexLocker locker(&current_event_queue_id_lock_);
+  current_event_queue_id_ =
+      (current_event_queue_id_ + 1) % options_.num_event_threads;
+  return event_queue_threads_.at(current_event_queue_id_).event_queue();
+}
+
+void Server::RunEventQueue(EventQueue* event_queue) {
+  while (!shutting_down_) {
+    Rpc::RpcEvent* rpc_event = event_queue->PopWithTimeout(kPopEventTimeout);
+    if (rpc_event) {
+      ProcessRpcEvent(rpc_event);
+    }
+  }
+
+  // Finish processing the rest of the items.
+  while (Rpc::RpcEvent* rpc_event =
+             event_queue->PopWithTimeout(kPopEventTimeout)) {
+    ProcessRpcEvent(rpc_event);
   }
 }
 
@@ -85,9 +131,18 @@ void Server::Start() {
                                 execution_context_.get());
   }
 
+  // Start threads to process all event queues.
+  for (auto& event_queue_thread : event_queue_threads_) {
+    event_queue_thread.Start(
+        [this](EventQueue* event_queue) { RunEventQueue(event_queue); });
+  }
+
   // Start threads to process all completion queues.
   for (auto& completion_queue_threads : completion_queue_threads_) {
-    completion_queue_threads.Start(Server::RunCompletionQueue);
+    completion_queue_threads.Start(
+        [this](::grpc::ServerCompletionQueue* completion_queue) {
+          RunCompletionQueue(completion_queue);
+        });
   }
 }
 
@@ -101,6 +156,7 @@ void Server::WaitForShutdown() {
 
 void Server::Shutdown() {
   LOG(INFO) << "Shutting down server.";
+  shutting_down_ = true;
 
   // Tell the services to stop serving RPCs.
   for (auto& service : services_) {
@@ -117,6 +173,10 @@ void Server::Shutdown() {
     completion_queue_threads.Shutdown();
   }
 
+  for (auto& event_queue_thread : event_queue_threads_) {
+    event_queue_thread.Shutdown();
+  }
+
   LOG(INFO) << "Shutdown complete.";
 }
 
diff --git a/cartographer_grpc/framework/server.h b/cartographer_grpc/framework/server.h
index e76bd09..92fe51e 100644
--- a/cartographer_grpc/framework/server.h
+++ b/cartographer_grpc/framework/server.h
@@ -25,6 +25,7 @@
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/completion_queue_thread.h"
+#include "cartographer_grpc/framework/event_queue_thread.h"
 #include "cartographer_grpc/framework/execution_context.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
 #include "cartographer_grpc/framework/service.h"
@@ -38,7 +39,8 @@ class Server {
   // All options that configure server behaviour such as number of threads,
   // ports etc.
   struct Options {
-    size_t number_of_threads = 4;
+    size_t num_grpc_threads;
+    size_t num_event_threads;
     std::string server_address = "0.0.0.0:50051";
   };
 
@@ -49,7 +51,8 @@ class Server {
     Builder() = default;
 
     std::unique_ptr<Server> Build();
-    void SetNumberOfThreads(std::size_t number_of_threads);
+    void SetNumGrpcThreads(std::size_t num_grpc_threads);
+    void SetNumEventThreads(std::size_t num_event_threads);
     void SetServerAddress(const std::string& server_address);
 
     template <typename RpcHandlerType, typename ServiceType>
@@ -105,16 +108,18 @@ class Server {
   Server(const Options& options);
   Server(const Server&) = delete;
   Server& operator=(const Server&) = delete;
-
   void AddService(
       const std::string& service_name,
       const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos);
-
-  static void RunCompletionQueue(
-      ::grpc::ServerCompletionQueue* completion_queue);
+  void RunCompletionQueue(::grpc::ServerCompletionQueue* completion_queue);
+  void RunEventQueue(EventQueue* event_queue);
+  void ProcessRpcEvent(Rpc::RpcEvent* rpc_event);
+  EventQueue* SelectNextEventQueueRoundRobin();
 
   Options options_;
 
+  bool shutting_down_ = false;
+
   // gRPC objects needed to build a server.
   ::grpc::ServerBuilder server_builder_;
   std::unique_ptr<::grpc::Server> server_;
@@ -122,6 +127,11 @@ class Server {
   // Threads processing the completion queues.
   std::vector<CompletionQueueThread> completion_queue_threads_;
 
+  // Threads processing RPC events.
+  std::vector<EventQueueThread> event_queue_threads_;
+  cartographer::common::Mutex current_event_queue_id_lock_;
+  int current_event_queue_id_ = 0;
+
   // Map of service names to services.
   std::map<std::string, Service> services_;
 
diff --git a/cartographer_grpc/framework/server_test.cc b/cartographer_grpc/framework/server_test.cc
index 3cb4f31..c6873d6 100644
--- a/cartographer_grpc/framework/server_test.cc
+++ b/cartographer_grpc/framework/server_test.cc
@@ -93,7 +93,8 @@ class ServerTest : public ::testing::Test {
   void SetUp() override {
     Server::Builder server_builder;
     server_builder.SetServerAddress(kServerAddress);
-    server_builder.SetNumberOfThreads(kNumThreads);
+    server_builder.SetNumGrpcThreads(kNumThreads);
+    server_builder.SetNumEventThreads(kNumThreads);
     server_builder.RegisterHandler<GetSumHandler, proto::Math>("GetSum");
     server_builder.RegisterHandler<GetSquareHandler, proto::Math>("GetSquare");
     server_builder.RegisterHandler<GetRunningSumHandler, proto::Math>(
diff --git a/cartographer_grpc/framework/service.cc b/cartographer_grpc/framework/service.cc
index c501054..f40ecb9 100644
--- a/cartographer_grpc/framework/service.cc
+++ b/cartographer_grpc/framework/service.cc
@@ -16,6 +16,8 @@
 
 #include "cartographer_grpc/framework/server.h"
 
+#include <cstdlib>
+
 #include "glog/logging.h"
 #include "grpc++/impl/codegen/proto_utils.h"
 
@@ -23,8 +25,10 @@ namespace cartographer_grpc {
 namespace framework {
 
 Service::Service(const std::string& service_name,
-                 const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos)
-    : rpc_handler_infos_(rpc_handler_infos) {
+                 const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos,
+                 EventQueueSelector event_queue_selector)
+    : rpc_handler_infos_(rpc_handler_infos),
+      event_queue_selector_(event_queue_selector) {
   for (const auto& rpc_handler_info : rpc_handler_infos_) {
     // The 'handler' below is set to 'nullptr' indicating that we want to
     // handle this method asynchronously.
@@ -42,7 +46,8 @@ void Service::StartServing(
     for (auto& completion_queue_thread : completion_queue_threads) {
       std::shared_ptr<Rpc> rpc =
           active_rpcs_.Add(cartographer::common::make_unique<Rpc>(
-              i, completion_queue_thread.completion_queue(), execution_context,
+              i, completion_queue_thread.completion_queue(),
+              event_queue_selector_(), execution_context,
               rpc_handler_info.second, this, active_rpcs_.GetWeakPtrFactory()));
       rpc->RequestNextMethodInvocation();
     }
@@ -93,8 +98,10 @@ void Service::HandleNewConnection(Rpc* rpc, bool ok) {
   }
 
   // Create new active rpc to handle next connection and register it for the
-  // incoming connection.
-  active_rpcs_.Add(rpc->Clone())->RequestNextMethodInvocation();
+  // incoming connection. Assign event queue in a round-robin fashion.
+  std::unique_ptr<Rpc> new_rpc = rpc->Clone();
+  new_rpc->SetEventQueue(event_queue_selector_());
+  active_rpcs_.Add(std::move(new_rpc))->RequestNextMethodInvocation();
 }
 
 void Service::HandleRead(Rpc* rpc, bool ok) {
diff --git a/cartographer_grpc/framework/service.h b/cartographer_grpc/framework/service.h
index b3f60a2..895b0e7 100644
--- a/cartographer_grpc/framework/service.h
+++ b/cartographer_grpc/framework/service.h
@@ -18,6 +18,7 @@
 #define CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H
 
 #include "cartographer_grpc/framework/completion_queue_thread.h"
+#include "cartographer_grpc/framework/event_queue_thread.h"
 #include "cartographer_grpc/framework/execution_context.h"
 #include "cartographer_grpc/framework/rpc.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
@@ -32,10 +33,12 @@ namespace framework {
 // 'Rpc' handler objects.
 class Service : public ::grpc::Service {
  public:
+  using EventQueueSelector = std::function<EventQueue*()>;
   friend class Rpc;
 
   Service(const std::string& service_name,
-          const std::map<std::string, RpcHandlerInfo>& rpc_handlers);
+          const std::map<std::string, RpcHandlerInfo>& rpc_handlers,
+          EventQueueSelector event_queue_selector);
   void StartServing(std::vector<CompletionQueueThread>& completion_queues,
                     ExecutionContext* execution_context);
   void HandleEvent(Rpc::Event event, Rpc* rpc, bool ok);
@@ -51,6 +54,7 @@ class Service : public ::grpc::Service {
   void RemoveIfNotPending(Rpc* rpc);
 
   std::map<std::string, RpcHandlerInfo> rpc_handler_infos_;
+  EventQueueSelector event_queue_selector_;
   ActiveRpcs active_rpcs_;
   bool shutting_down_ = false;
 };
diff --git a/cartographer_grpc/map_builder_server.cc b/cartographer_grpc/map_builder_server.cc
index a65740c..d4d1789 100644
--- a/cartographer_grpc/map_builder_server.cc
+++ b/cartographer_grpc/map_builder_server.cc
@@ -52,8 +52,10 @@ MapBuilderServer::MapBuilderServer(
     : map_builder_(map_builder_server_options.map_builder_options()) {
   framework::Server::Builder server_builder;
   server_builder.SetServerAddress(map_builder_server_options.server_address());
-  server_builder.SetNumberOfThreads(
+  server_builder.SetNumGrpcThreads(
       map_builder_server_options.num_grpc_threads());
+  server_builder.SetNumEventThreads(
+      map_builder_server_options.num_event_threads());
   server_builder.RegisterHandler<handlers::AddTrajectoryHandler,
                                  proto::MapBuilderService>("AddTrajectory");
   server_builder.RegisterHandler<handlers::AddOdometryDataHandler,
diff --git a/cartographer_grpc/map_builder_server_options.cc b/cartographer_grpc/map_builder_server_options.cc
index 308c189..53fd072 100644
--- a/cartographer_grpc/map_builder_server_options.cc
+++ b/cartographer_grpc/map_builder_server_options.cc
@@ -29,6 +29,8 @@ proto::MapBuilderServerOptions CreateMapBuilderServerOptions(
       lua_parameter_dictionary->GetString("server_address"));
   map_builder_server_options.set_num_grpc_threads(
       lua_parameter_dictionary->GetInt("num_grpc_threads"));
+  map_builder_server_options.set_num_event_threads(
+      lua_parameter_dictionary->GetInt("num_event_threads"));
   *map_builder_server_options.mutable_map_builder_options() =
       cartographer::mapping::CreateMapBuilderOptions(
           lua_parameter_dictionary->GetDictionary("map_builder").get());
diff --git a/cartographer_grpc/proto/map_builder_server_options.proto b/cartographer_grpc/proto/map_builder_server_options.proto
index 72748b4..9b82b32 100644
--- a/cartographer_grpc/proto/map_builder_server_options.proto
+++ b/cartographer_grpc/proto/map_builder_server_options.proto
@@ -21,5 +21,6 @@ package cartographer_grpc.proto;
 message MapBuilderServerOptions {
   string server_address = 1;
   int32 num_grpc_threads = 2;
-  cartographer.mapping.proto.MapBuilderOptions map_builder_options = 3;
+  int32 num_event_threads = 3;
+  cartographer.mapping.proto.MapBuilderOptions map_builder_options = 4;
 }