The imaginary future of cities has been the subject of science fiction writers, architects, illustrators, filmmakers, videogame designers, fashion designers, restaurant chefs, etc. Futures exploration has been slowly expanding in recent years by using broader approaches to imagine alternative future scenarios and better understand existential risks and opportunities, the potential of municipal governments and citizens. One of these approaches focuses on the inherent anticipatory capacity of biological and social systems. Anticipation theory postulates that social systems create images of themselves in the future that play an essential role in decision-making processes in the present. These processes are embedded in broader social dynamics that frame the construction of futures in urban contexts. This book aims to characterize cities as evolving anticipatory systems with diverse implicit and explicit uses of images of the future. Each contribution explores specific aspects of anticipation in cities worldwide, particularly in the Global South. The chapters of this book are related to specific aspects of anticipatory systems and some of their conceptual components, such as anticipatory assumptions, anticipatory capabilities, or anticipatory governance.