diff --git a/python/ray/tests/test_placement_group.py b/python/ray/tests/test_placement_group.py
index 6fea9e273..1b6280556 100644
--- a/python/ray/tests/test_placement_group.py
+++ b/python/ray/tests/test_placement_group.py
@@ -8,7 +8,7 @@ except ImportError:
     pytest_timeout = None
 
 import ray
-from ray.test_utils import wait_for_condition
+from ray.test_utils import get_other_nodes, wait_for_condition
 import ray.cluster_utils
 from ray._raylet import PlacementGroupID
 
@@ -350,5 +350,73 @@ def test_cuda_visible_devices(ray_start_cluster):
     assert devices == "0", devices
 
 
+def test_placement_group_reschedule_when_node_dead(ray_start_cluster):
+    @ray.remote(num_cpus=1)
+    class Actor(object):
+        def __init__(self):
+            self.n = 0
+
+        def value(self):
+            return self.n
+
+    cluster = ray_start_cluster
+    cluster.add_node(num_cpus=4)
+    cluster.add_node(num_cpus=4)
+    cluster.add_node(num_cpus=4)
+    cluster.wait_for_nodes()
+    ray.init(address=cluster.address)
+
+    # Make sure both head and worker node are alive.
+    nodes = ray.nodes()
+    assert len(nodes) == 3
+    assert nodes[0]["alive"] and nodes[1]["alive"] and nodes[2]["alive"]
+
+    placement_group_id = ray.experimental.placement_group(
+        name="name",
+        strategy="SPREAD",
+        bundles=[{
+            "CPU": 2
+        }, {
+            "CPU": 2
+        }, {
+            "CPU": 2
+        }])
+    actor_1 = Actor.options(
+        placement_group_id=placement_group_id,
+        placement_group_bundle_index=0,
+        detached=True).remote()
+    actor_2 = Actor.options(
+        placement_group_id=placement_group_id,
+        placement_group_bundle_index=1,
+        detached=True).remote()
+    actor_3 = Actor.options(
+        placement_group_id=placement_group_id,
+        placement_group_bundle_index=2,
+        detached=True).remote()
+    print(ray.get(actor_1.value.remote()))
+    print(ray.get(actor_2.value.remote()))
+    print(ray.get(actor_3.value.remote()))
+
+    cluster.remove_node(get_other_nodes(cluster, exclude_head=True)[-1])
+    cluster.wait_for_nodes()
+
+    actor_4 = Actor.options(
+        placement_group_id=placement_group_id,
+        placement_group_bundle_index=0,
+        detached=True).remote()
+    actor_5 = Actor.options(
+        placement_group_id=placement_group_id,
+        placement_group_bundle_index=1,
+        detached=True).remote()
+    actor_6 = Actor.options(
+        placement_group_id=placement_group_id,
+        placement_group_bundle_index=2,
+        detached=True).remote()
+    print(ray.get(actor_4.value.remote()))
+    print(ray.get(actor_5.value.remote()))
+    print(ray.get(actor_6.value.remote()))
+    ray.shutdown()
+
+
 if __name__ == "__main__":
     sys.exit(pytest.main(["-v", __file__]))
diff --git a/src/ray/gcs/gcs_server/gcs_node_manager.cc b/src/ray/gcs/gcs_server/gcs_node_manager.cc
index 679e01ff4..cebd8a93a 100644
--- a/src/ray/gcs/gcs_server/gcs_node_manager.cc
+++ b/src/ray/gcs/gcs_server/gcs_node_manager.cc
@@ -395,6 +395,8 @@ std::shared_ptr<rpc::GcsNodeInfo> GcsNodeManager::RemoveNode(
     alive_nodes_.erase(iter);
     // Remove from cluster resources.
     cluster_resources_.erase(node_id);
+    // Remove from cluster realtime resources.
+    cluster_realtime_resources_.erase(node_id);
     if (!is_intended) {
       // Broadcast a warning to all of the drivers indicating that the node
       // has been marked as dead.
diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc b/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
index 75ae6b146..a4710a77e 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_manager.cc
@@ -40,7 +40,7 @@ std::string GcsPlacementGroup::GetName() const {
 }
 
 std::vector<std::shared_ptr<BundleSpecification>> GcsPlacementGroup::GetBundles() const {
-  auto bundles = placement_group_table_data_.bundles();
+  const auto &bundles = placement_group_table_data_.bundles();
   std::vector<std::shared_ptr<BundleSpecification>> ret_bundles;
   for (auto &bundle : bundles) {
     ret_bundles.push_back(std::make_shared<BundleSpecification>(bundle));
@@ -48,6 +48,18 @@ std::vector<std::shared_ptr<BundleSpecification>> GcsPlacementGroup::GetBundles(
   return ret_bundles;
 }
 
+std::vector<std::shared_ptr<BundleSpecification>> GcsPlacementGroup::GetUnplacedBundles()
+    const {
+  const auto &bundles = placement_group_table_data_.bundles();
+  std::vector<std::shared_ptr<BundleSpecification>> unplaced_bundles;
+  for (auto &bundle : bundles) {
+    if (ClientID::FromBinary(bundle.node_id()).IsNil()) {
+      unplaced_bundles.push_back(std::make_shared<BundleSpecification>(bundle));
+    }
+  }
+  return unplaced_bundles;
+}
+
 rpc::PlacementStrategy GcsPlacementGroup::GetStrategy() const {
   return placement_group_table_data_.strategy();
 }
@@ -56,13 +68,17 @@ const rpc::PlacementGroupTableData &GcsPlacementGroup::GetPlacementGroupTableDat
   return placement_group_table_data_;
 }
 
-const std::string GcsPlacementGroup::DebugString() const {
+std::string GcsPlacementGroup::DebugString() const {
   std::stringstream stream;
   stream << "placement group id = " << GetPlacementGroupID() << ", name = " << GetName()
          << ", strategy = " << GetStrategy();
   return stream.str();
 }
 
+rpc::Bundle *GcsPlacementGroup::GetMutableBundle(int bundle_index) {
+  return placement_group_table_data_.mutable_bundles(bundle_index);
+}
+
 /////////////////////////////////////////////////////////////////////////////////////////
 
 GcsPlacementGroupManager::GcsPlacementGroupManager(
@@ -74,20 +90,18 @@ GcsPlacementGroupManager::GcsPlacementGroupManager(
       gcs_table_storage_(std::move(gcs_table_storage)) {}
 
 void GcsPlacementGroupManager::RegisterPlacementGroup(
-    const ray::rpc::CreatePlacementGroupRequest &request, StatusCallback callback) {
+    const std::shared_ptr<GcsPlacementGroup> &placement_group, StatusCallback callback) {
   RAY_CHECK(callback);
-  const auto &placement_group_spec = request.placement_group_spec();
-  auto placement_group_id =
-      PlacementGroupID::FromBinary(placement_group_spec.placement_group_id());
-  auto placement_group = std::make_shared<GcsPlacementGroup>(request);
 
   // TODO(ffbin): If GCS is restarted, GCS client will repeatedly send
   // `CreatePlacementGroup` requests,
   //  which will lead to resource leakage, we will solve it in next pr.
   // Mark the callback as pending and invoke it after the placement_group has been
   // successfully created.
-  placement_group_to_register_callback_[placement_group_id] = std::move(callback);
-  registered_placement_groups_.emplace(placement_group_id, placement_group);
+  placement_group_to_register_callback_[placement_group->GetPlacementGroupID()] =
+      std::move(callback);
+  registered_placement_groups_.emplace(placement_group->GetPlacementGroupID(),
+                                       placement_group);
   pending_placement_groups_.emplace_back(std::move(placement_group));
   SchedulePendingPlacementGroups();
 }
@@ -108,9 +122,20 @@ void GcsPlacementGroupManager::OnPlacementGroupCreationFailed(
     std::shared_ptr<GcsPlacementGroup> placement_group) {
   RAY_LOG(WARNING) << "Failed to create placement group " << placement_group->GetName()
                    << ", try again.";
-  // We will attempt to schedule this placement_group once
-  // an eligible node is registered.
-  pending_placement_groups_.emplace_back(std::move(placement_group));
+  // We will attempt to schedule this placement_group once an eligible node is
+  // registered.
+  auto state = placement_group->GetState();
+  RAY_CHECK(state == rpc::PlacementGroupTableData::RESCHEDULING ||
+            state == rpc::PlacementGroupTableData::PENDING);
+  if (state == rpc::PlacementGroupTableData::RESCHEDULING) {
+    // NOTE: If a node is dead, the placement group scheduler should try to recover the
+    // group by rescheduling the bundles of the dead node. This should have higher
+    // priority than trying to place other placement groups.
+    pending_placement_groups_.emplace_front(std::move(placement_group));
+  } else {
+    pending_placement_groups_.emplace_back(std::move(placement_group));
+  }
+
   MarkSchedulingDone();
   RetryCreatingPlacementGroup();
 }
@@ -147,7 +172,7 @@ void GcsPlacementGroupManager::SchedulePendingPlacementGroups() {
   if (registered_placement_groups_.find(placement_group_id) !=
       registered_placement_groups_.end()) {
     MarkSchedulingStarted(placement_group_id);
-    gcs_placement_group_scheduler_->Schedule(
+    gcs_placement_group_scheduler_->ScheduleUnplacedBundles(
         placement_group,
         [this](std::shared_ptr<GcsPlacementGroup> placement_group) {
           OnPlacementGroupCreationFailed(std::move(placement_group));
@@ -186,18 +211,18 @@ void GcsPlacementGroupManager::HandleCreatePlacementGroup(
           return;
         }
 
-        RegisterPlacementGroup(
-            request, [reply, send_reply_callback, placement_group](Status status) {
-              if (status.ok()) {
-                RAY_LOG(INFO) << "Finished registering placement group, "
-                              << placement_group->DebugString();
-              } else {
-                RAY_LOG(WARNING)
-                    << "Failed to register placement group, "
-                    << placement_group->DebugString() << ", cause: " << status.message();
-              }
-              GCS_RPC_SEND_REPLY(send_reply_callback, reply, status);
-            });
+        RegisterPlacementGroup(placement_group, [reply, send_reply_callback,
+                                                 placement_group](Status status) {
+          if (status.ok()) {
+            RAY_LOG(INFO) << "Finished registering placement group, "
+                          << placement_group->DebugString();
+          } else {
+            RAY_LOG(WARNING) << "Failed to register placement group, "
+                             << placement_group->DebugString()
+                             << ", cause: " << status.message();
+          }
+          GCS_RPC_SEND_REPLY(send_reply_callback, reply, status);
+        });
       }));
 }
 
@@ -299,5 +324,26 @@ void GcsPlacementGroupManager::RetryCreatingPlacementGroup() {
                 RayConfig::instance().gcs_create_placement_group_retry_interval_ms());
 }
 
+void GcsPlacementGroupManager::OnNodeDead(const ClientID &node_id) {
+  RAY_LOG(WARNING) << "Node " << node_id
+                   << " failed, rescheduling the placement groups on the dead node.";
+  auto bundles = gcs_placement_group_scheduler_->GetBundlesOnNode(node_id);
+  for (const auto &bundle : bundles) {
+    auto iter = registered_placement_groups_.find(bundle.first);
+    if (iter != registered_placement_groups_.end()) {
+      for (const auto &bundle_index : bundle.second) {
+        iter->second->GetMutableBundle(bundle_index)->clear_node_id();
+      }
+      // TODO(ffbin): If we have a placement group bundle that requires a unique resource
+      // (for example gpu resource when there’s only one gpu node), this can postpone
+      // creating until a node with the resources is added. we will solve it in next pr.
+      iter->second->UpdateState(rpc::PlacementGroupTableData::RESCHEDULING);
+      pending_placement_groups_.emplace_front(iter->second);
+    }
+  }
+
+  SchedulePendingPlacementGroups();
+}
+
 }  // namespace gcs
 }  // namespace ray
diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_manager.h b/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
index a13231ef9..ce21b8d01 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_manager.h
@@ -57,24 +57,32 @@ class GcsPlacementGroup {
   /// Get the immutable PlacementGroupTableData of this placement group.
   const rpc::PlacementGroupTableData &GetPlacementGroupTableData();
 
+  /// Get the mutable bundle of this placement group.
+  rpc::Bundle *GetMutableBundle(int bundle_index);
+
   /// Update the state of this placement_group.
   void UpdateState(rpc::PlacementGroupTableData::PlacementGroupState state);
+
   /// Get the state of this gcs placement_group.
   rpc::PlacementGroupTableData::PlacementGroupState GetState() const;
 
   /// Get the id of this placement_group.
   PlacementGroupID GetPlacementGroupID() const;
+
   /// Get the name of this placement_group.
   std::string GetName() const;
 
-  /// Get the bundles of this placement_group
+  /// Get the bundles of this placement_group (including unplaced).
   std::vector<std::shared_ptr<BundleSpecification>> GetBundles() const;
 
+  /// Get the unplaced bundles of this placement group.
+  std::vector<std::shared_ptr<BundleSpecification>> GetUnplacedBundles() const;
+
   /// Get the Strategy
   rpc::PlacementStrategy GetStrategy() const;
 
   // Get debug string for the placement group.
-  const std::string DebugString() const;
+  std::string DebugString() const;
 
  private:
   /// The placement_group meta data which contains the task specification as well as the
@@ -120,16 +128,15 @@ class GcsPlacementGroupManager : public rpc::PlacementGroupInfoHandler {
 
   /// Register placement_group asynchronously.
   ///
-  /// \param request Contains the meta info to create the placement_group.
+  /// \param placement_group The placement group to be created.
   /// \param callback Will be invoked after the placement_group is created successfully or
   /// be invoked immediately if the placement_group is already registered to
   /// `registered_placement_groups_` and its state is `CREATED`. The callback will not be
   /// called in this case.
-  void RegisterPlacementGroup(const rpc::CreatePlacementGroupRequest &request,
+  void RegisterPlacementGroup(const std::shared_ptr<GcsPlacementGroup> &placement_group,
                               StatusCallback callback);
 
   /// Schedule placement_groups in the `pending_placement_groups_` queue.
-  /// This function is exposed for testing only.
   void SchedulePendingPlacementGroups();
 
   /// Get the placement_group ID for the named placement_group. Returns nil if the
@@ -156,6 +163,12 @@ class GcsPlacementGroupManager : public rpc::PlacementGroupInfoHandler {
   void RemovePlacementGroup(const PlacementGroupID &placement_group_id,
                             StatusCallback on_placement_group_removed);
 
+  /// Handle a node death. This will reschedule all bundles associated with the
+  /// specified node id.
+  ///
+  /// \param node_id The specified node id.
+  void OnNodeDead(const ClientID &node_id);
+
  private:
   /// Try to create placement group after a short time.
   void RetryCreatingPlacementGroup();
@@ -192,6 +205,9 @@ class GcsPlacementGroupManager : public rpc::PlacementGroupInfoHandler {
 
   /// The pending placement_groups which will not be scheduled until there's a resource
   /// change.
+  /// NOTE: When we remove placement group, we need to look for
+  /// `pending_placement_groups_` and delete the specific placement group, so we can't use
+  /// `std::priority_queue`.
   std::deque<std::shared_ptr<GcsPlacementGroup>> pending_placement_groups_;
 
   /// The scheduler to schedule all registered placement_groups.
diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.cc b/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.cc
index dca55e0e8..0e628adee 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.cc
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.cc
@@ -114,15 +114,17 @@ ScheduleMap GcsSpreadStrategy::Schedule(
   return schedule_map;
 }
 
-void GcsPlacementGroupScheduler::Schedule(
+void GcsPlacementGroupScheduler::ScheduleUnplacedBundles(
     std::shared_ptr<GcsPlacementGroup> placement_group,
     std::function<void(std::shared_ptr<GcsPlacementGroup>)> failure_callback,
     std::function<void(std::shared_ptr<GcsPlacementGroup>)> success_callback) {
-  RAY_LOG(INFO) << "Scheduling placement group " << placement_group->GetName();
-  auto bundles = placement_group->GetBundles();
+  auto bundles = placement_group->GetUnplacedBundles();
   auto strategy = placement_group->GetStrategy();
-  auto selected_nodes =
-      scheduler_strategies_[strategy]->Schedule(bundles, GetScheduleContext());
+
+  RAY_LOG(INFO) << "Scheduling placement group " << placement_group->GetName()
+                << ", bundles size = " << bundles.size();
+  auto selected_nodes = scheduler_strategies_[strategy]->Schedule(
+      bundles, GetScheduleContext(placement_group->GetPlacementGroupID()));
 
   // If no nodes are available, scheduling fails.
   if (selected_nodes.empty()) {
@@ -177,10 +179,10 @@ void GcsPlacementGroupScheduler::Schedule(
 
 void GcsPlacementGroupScheduler::DestroyPlacementGroupBundleResourcesIfExists(
     const PlacementGroupID &placement_group_id) {
-  auto it = placement_group_to_bundle_location_.find(placement_group_id);
+  auto it = placement_group_to_bundle_locations_.find(placement_group_id);
   // If bundle location has been already removed, it means bundles
   // are already destroyed. Do nothing.
-  if (it == placement_group_to_bundle_location_.end()) {
+  if (it == placement_group_to_bundle_locations_.end()) {
     return;
   }
 
@@ -190,7 +192,7 @@ void GcsPlacementGroupScheduler::DestroyPlacementGroupBundleResourcesIfExists(
     auto &node_id = iter.second.first;
     CancelResourceReserve(bundle_spec, gcs_node_manager_.GetNode(node_id));
   }
-  placement_group_to_bundle_location_.erase(it);
+  placement_group_to_bundle_locations_.erase(it);
 
   // Remove bundles from node_to_leased_bundles_ because bundels are removed now.
   for (const auto &bundle_location : *bundle_locations) {
@@ -243,7 +245,7 @@ void GcsPlacementGroupScheduler::CancelResourceReserve(
     const std::shared_ptr<BundleSpecification> &bundle_spec,
     const std::shared_ptr<ray::rpc::GcsNodeInfo> &node) {
   if (node == nullptr) {
-    RAY_LOG(WARNING) << "Node id " << node->node_id() << " for a placement group id "
+    RAY_LOG(WARNING) << "Node for a placement group id "
                      << bundle_spec->PlacementGroupId() << " and a bundle index, "
                      << bundle_spec->Index()
                      << " has already removed. Cancellation request will be ignored.";
@@ -285,9 +287,7 @@ void GcsPlacementGroupScheduler::OnAllBundleSchedulingRequestReturned(
     const std::function<void(std::shared_ptr<GcsPlacementGroup>)>
         &schedule_success_handler) {
   const auto &placement_group_id = placement_group->GetPlacementGroupID();
-  RAY_CHECK(
-      placement_group_to_bundle_location_.emplace(placement_group_id, bundle_locations)
-          .second);
+  placement_group_to_bundle_locations_.emplace(placement_group_id, bundle_locations);
 
   if (placement_group_leasing_in_progress_.find(placement_group_id) ==
           placement_group_leasing_in_progress_.end() ||
@@ -310,12 +310,14 @@ void GcsPlacementGroupScheduler::OnAllBundleSchedulingRequestReturned(
         [schedule_success_handler, placement_group](Status status) {
           schedule_success_handler(placement_group);
         }));
-    // Update `node_to_leased_bundles_`.
+
     for (const auto &iter : *bundle_locations) {
       const auto &location = iter.second;
       const auto &bundle_sepc = location.second;
       node_to_leased_bundles_[location.first].emplace(bundle_sepc->BundleId(),
                                                       bundle_sepc);
+      placement_group->GetMutableBundle(location.second->Index())
+          ->set_node_id(location.first.Binary());
     }
   }
   // Erase leasing in progress placement group.
@@ -326,7 +328,8 @@ void GcsPlacementGroupScheduler::OnAllBundleSchedulingRequestReturned(
   }
 }
 
-std::unique_ptr<ScheduleContext> GcsPlacementGroupScheduler::GetScheduleContext() {
+std::unique_ptr<ScheduleContext> GcsPlacementGroupScheduler::GetScheduleContext(
+    const PlacementGroupID &placement_group_id) {
   // TODO(ffbin): We will add listener to the GCS node manager to handle node deletion.
   auto &alive_nodes = gcs_node_manager_.GetAllAliveNodes();
   for (const auto &iter : alive_nodes) {
@@ -341,8 +344,28 @@ std::unique_ptr<ScheduleContext> GcsPlacementGroupScheduler::GetScheduleContext(
   for (const auto &iter : node_to_leased_bundles_) {
     node_to_bundles->emplace(iter.first, iter.second.size());
   }
-  return std::unique_ptr<ScheduleContext>(
-      new ScheduleContext(node_to_bundles, gcs_node_manager_));
+
+  std::shared_ptr<BundleLocations> bundle_locations = nullptr;
+  auto iter = placement_group_to_bundle_locations_.find(placement_group_id);
+  if (iter != placement_group_to_bundle_locations_.end()) {
+    bundle_locations = iter->second;
+  }
+  return std::unique_ptr<ScheduleContext>(new ScheduleContext(
+      std::move(node_to_bundles), bundle_locations, gcs_node_manager_));
+}
+
+absl::flat_hash_map<PlacementGroupID, std::vector<int64_t>>
+GcsPlacementGroupScheduler::GetBundlesOnNode(const ClientID &node_id) {
+  absl::flat_hash_map<PlacementGroupID, std::vector<int64_t>> bundles_on_node;
+  const auto node_iter = node_to_leased_bundles_.find(node_id);
+  if (node_iter != node_to_leased_bundles_.end()) {
+    const auto &bundles = node_iter->second;
+    for (auto &bundle : bundles) {
+      bundles_on_node[bundle.first.first].push_back(bundle.second->BundleId().second);
+    }
+    node_to_leased_bundles_.erase(node_iter);
+  }
+  return bundles_on_node;
 }
 
 }  // namespace gcs
diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.h b/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.h
index f33c64d40..f56e337c4 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.h
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.h
@@ -40,18 +40,27 @@ struct pair_hash {
 using ScheduleMap = std::unordered_map<BundleID, ClientID, pair_hash>;
 using BundleLocations = std::unordered_map<
     BundleID, std::pair<ClientID, std::shared_ptr<BundleSpecification>>, pair_hash>;
+
 class GcsPlacementGroup;
 
 class GcsPlacementGroupSchedulerInterface {
  public:
-  /// Schedule the specified placement_group.
+  /// Schedule unplaced bundles of the specified placement group.
   ///
-  /// \param placement_group to be scheduled.
-  virtual void Schedule(
+  /// \param placement_group The placement group to be scheduled.
+  /// \param failure_callback This function is called if the schedule is failed.
+  /// \param success_callback This function is called if the schedule is successful.
+  virtual void ScheduleUnplacedBundles(
       std::shared_ptr<GcsPlacementGroup> placement_group,
-      std::function<void(std::shared_ptr<GcsPlacementGroup>)> schedule_failure_handler,
-      std::function<void(std::shared_ptr<GcsPlacementGroup>)>
-          schedule_success_handler) = 0;
+      std::function<void(std::shared_ptr<GcsPlacementGroup>)> failure_callback,
+      std::function<void(std::shared_ptr<GcsPlacementGroup>)> success_callback) = 0;
+
+  /// Get bundles belong to the specified node.
+  ///
+  /// \param node_id ID of the dead node.
+  /// \return The bundles belong to the dead node.
+  virtual absl::flat_hash_map<PlacementGroupID, std::vector<int64_t>> GetBundlesOnNode(
+      const ClientID &node_id) = 0;
 
   /// Destroy bundle resources from all nodes in the placement group.
   virtual void DestroyPlacementGroupBundleResourcesIfExists(
@@ -66,11 +75,16 @@ class GcsPlacementGroupSchedulerInterface {
 class ScheduleContext {
  public:
   ScheduleContext(std::shared_ptr<absl::flat_hash_map<ClientID, int64_t>> node_to_bundles,
+                  const std::shared_ptr<BundleLocations> &bundle_locations,
                   const GcsNodeManager &node_manager)
-      : node_to_bundles_(std::move(node_to_bundles)), node_manager_(node_manager) {}
+      : node_to_bundles_(std::move(node_to_bundles)),
+        bundle_locations_(bundle_locations),
+        node_manager_(node_manager) {}
 
   // Key is node id, value is the number of bundles on the node.
-  std::shared_ptr<absl::flat_hash_map<ClientID, int64_t>> node_to_bundles_;
+  const std::shared_ptr<absl::flat_hash_map<ClientID, int64_t>> node_to_bundles_;
+  // The locations of existing bundles for this placement group.
+  const std::shared_ptr<BundleLocations> &bundle_locations_;
 
   const GcsNodeManager &node_manager_;
 };
@@ -124,7 +138,7 @@ class GcsPlacementGroupScheduler : public GcsPlacementGroupSchedulerInterface {
 
   virtual ~GcsPlacementGroupScheduler() = default;
 
-  /// Schedule the specified placement_group.
+  /// Schedule unplaced bundles of the specified placement group.
   /// If there is no available nodes then the `schedule_failed_handler` will be
   /// triggered, otherwise the bundle in placement_group will be add into a queue and
   /// schedule all bundle by calling ReserveResourceFromNode().
@@ -132,7 +146,7 @@ class GcsPlacementGroupScheduler : public GcsPlacementGroupSchedulerInterface {
   /// \param placement_group to be scheduled.
   /// \param failure_callback This function is called if the schedule is failed.
   /// \param success_callback This function is called if the schedule is successful.
-  void Schedule(
+  void ScheduleUnplacedBundles(
       std::shared_ptr<GcsPlacementGroup> placement_group,
       std::function<void(std::shared_ptr<GcsPlacementGroup>)> failure_handler,
       std::function<void(std::shared_ptr<GcsPlacementGroup>)> success_handler) override;
@@ -151,6 +165,13 @@ class GcsPlacementGroupScheduler : public GcsPlacementGroupSchedulerInterface {
   /// cancelled.
   void MarkScheduleCancelled(const PlacementGroupID &placement_group_id) override;
 
+  /// Get bundles belong to the specified node.
+  ///
+  /// \param node_id ID of the dead node.
+  /// \return The bundles belong to the dead node.
+  absl::flat_hash_map<PlacementGroupID, std::vector<int64_t>> GetBundlesOnNode(
+      const ClientID &node_id) override;
+
  protected:
   /// Lease resource from the specified node for the specified bundle.
   void ReserveResourceFromNode(const std::shared_ptr<BundleSpecification> &bundle,
@@ -177,8 +198,9 @@ class GcsPlacementGroupScheduler : public GcsPlacementGroupSchedulerInterface {
       const std::function<void(std::shared_ptr<GcsPlacementGroup>)>
           &schedule_success_handler);
 
-  /// Generate schedule conetext.
-  std::unique_ptr<ScheduleContext> GetScheduleContext();
+  /// Generate schedule context.
+  std::unique_ptr<ScheduleContext> GetScheduleContext(
+      const PlacementGroupID &placement_group_id);
 
   /// A timer that ticks every cancel resource failure milliseconds.
   boost::asio::deadline_timer return_timer_;
@@ -217,10 +239,11 @@ class GcsPlacementGroupScheduler : public GcsPlacementGroupSchedulerInterface {
   absl::flat_hash_set<PlacementGroupID> placement_group_leasing_in_progress_;
 
   /// A map from placement group id to bundle locations.
-  /// It is used to destroy bundles for the placement group.
+  /// It is used to destroy bundles for the placement group. When we reschedule bundles,
+  /// we can get the location of other bundles from here.
   /// NOTE: It is a reverse index of `node_to_leased_bundles`.
   absl::flat_hash_map<PlacementGroupID, std::shared_ptr<BundleLocations>>
-      placement_group_to_bundle_location_;
+      placement_group_to_bundle_locations_;
 };
 
 }  // namespace gcs
diff --git a/src/ray/gcs/gcs_server/gcs_server.cc b/src/ray/gcs/gcs_server/gcs_server.cc
index b9d7c27b1..f16f1bfe1 100644
--- a/src/ray/gcs/gcs_server/gcs_server.cc
+++ b/src/ray/gcs/gcs_server/gcs_server.cc
@@ -204,8 +204,9 @@ void GcsServer::InitGcsActorManager() {
 
   gcs_node_manager_->AddNodeRemovedListener(
       [this](std::shared_ptr<rpc::GcsNodeInfo> node) {
-        // All of the related actors should be reconstructed when a node is removed from
-        // the GCS.
+        // All of the related placement groups and actors should be reconstructed when a
+        // node is removed from the GCS.
+        gcs_placement_group_manager_->OnNodeDead(ClientID::FromBinary(node->node_id()));
         gcs_actor_manager_->OnNodeDead(ClientID::FromBinary(node->node_id()));
       });
 
diff --git a/src/ray/gcs/gcs_server/test/gcs_placement_group_manager_test.cc b/src/ray/gcs/gcs_server/test/gcs_placement_group_manager_test.cc
index a5f1afc1d..65c8c4206 100644
--- a/src/ray/gcs/gcs_server/test/gcs_placement_group_manager_test.cc
+++ b/src/ray/gcs/gcs_server/test/gcs_placement_group_manager_test.cc
@@ -24,14 +24,14 @@ using ::testing::_;
 
 class MockPlacementGroupScheduler : public gcs::GcsPlacementGroupSchedulerInterface {
  public:
-  MockPlacementGroupScheduler() {}
+  MockPlacementGroupScheduler() = default;
 
-  void Schedule(std::shared_ptr<gcs::GcsPlacementGroup> placement_group,
-                std::function<void(std::shared_ptr<gcs::GcsPlacementGroup>)>
-                    schedule_failure_handler = nullptr,
-                std::function<void(std::shared_ptr<gcs::GcsPlacementGroup>)>
-                    schedule_success_handler = nullptr) {
-    placement_groups.push_back(placement_group);
+  void ScheduleUnplacedBundles(
+      std::shared_ptr<gcs::GcsPlacementGroup> placement_group,
+      std::function<void(std::shared_ptr<gcs::GcsPlacementGroup>)> failure_handler,
+      std::function<void(std::shared_ptr<gcs::GcsPlacementGroup>)> success_handler)
+      override {
+    placement_groups_.push_back(placement_group);
   }
 
   MOCK_METHOD1(DestroyPlacementGroupBundleResourcesIfExists,
@@ -39,7 +39,16 @@ class MockPlacementGroupScheduler : public gcs::GcsPlacementGroupSchedulerInterf
 
   MOCK_METHOD1(MarkScheduleCancelled, void(const PlacementGroupID &placement_group_id));
 
-  std::vector<std::shared_ptr<gcs::GcsPlacementGroup>> placement_groups;
+  absl::flat_hash_map<PlacementGroupID, std::vector<int64_t>> GetBundlesOnNode(
+      const ClientID &node_id) override {
+    absl::flat_hash_map<PlacementGroupID, std::vector<int64_t>> bundles;
+    bundles[group_on_dead_node_] = bundles_on_dead_node_;
+    return bundles;
+  }
+
+  PlacementGroupID group_on_dead_node_;
+  std::vector<int64_t> bundles_on_dead_node_;
+  std::vector<std::shared_ptr<gcs::GcsPlacementGroup>> placement_groups_;
 };
 
 class GcsPlacementGroupManagerTest : public ::testing::Test {
@@ -75,16 +84,17 @@ class GcsPlacementGroupManagerTest : public ::testing::Test {
 };
 
 TEST_F(GcsPlacementGroupManagerTest, TestBasic) {
-  auto create_placement_group_request = Mocker::GenCreatePlacementGroupRequest();
+  auto request = Mocker::GenCreatePlacementGroupRequest();
   std::atomic<int> finished_placement_group_count(0);
   gcs_placement_group_manager_->RegisterPlacementGroup(
-      create_placement_group_request, [&finished_placement_group_count](Status status) {
+      std::make_shared<gcs::GcsPlacementGroup>(request),
+      [&finished_placement_group_count](Status status) {
         ++finished_placement_group_count;
       });
   ASSERT_EQ(finished_placement_group_count, 0);
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 1);
-  auto placement_group = mock_placement_group_scheduler_->placement_groups.back();
-  mock_placement_group_scheduler_->placement_groups.pop_back();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 1);
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  mock_placement_group_scheduler_->placement_groups_.pop_back();
 
   gcs_placement_group_manager_->OnPlacementGroupCreationSuccess(placement_group);
   WaitForExpectedCount(finished_placement_group_count, 1);
@@ -92,22 +102,23 @@ TEST_F(GcsPlacementGroupManagerTest, TestBasic) {
 }
 
 TEST_F(GcsPlacementGroupManagerTest, TestSchedulingFailed) {
-  auto create_placement_group_request = Mocker::GenCreatePlacementGroupRequest();
+  auto request = Mocker::GenCreatePlacementGroupRequest();
   std::atomic<int> finished_placement_group_count(0);
   gcs_placement_group_manager_->RegisterPlacementGroup(
-      create_placement_group_request, [&finished_placement_group_count](Status status) {
+      std::make_shared<gcs::GcsPlacementGroup>(request),
+      [&finished_placement_group_count](Status status) {
         ++finished_placement_group_count;
       });
 
   ASSERT_EQ(finished_placement_group_count, 0);
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 1);
-  auto placement_group = mock_placement_group_scheduler_->placement_groups.back();
-  mock_placement_group_scheduler_->placement_groups.clear();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 1);
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  mock_placement_group_scheduler_->placement_groups_.clear();
 
   gcs_placement_group_manager_->OnPlacementGroupCreationFailed(placement_group);
   gcs_placement_group_manager_->SchedulePendingPlacementGroups();
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 1);
-  mock_placement_group_scheduler_->placement_groups.clear();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 1);
+  mock_placement_group_scheduler_->placement_groups_.clear();
   ASSERT_EQ(finished_placement_group_count, 0);
 
   // Check that the placement_group is in state `CREATED`.
@@ -117,54 +128,54 @@ TEST_F(GcsPlacementGroupManagerTest, TestSchedulingFailed) {
 }
 
 TEST_F(GcsPlacementGroupManagerTest, TestGetPlacementGroupIDByName) {
-  auto create_placement_group_request =
-      Mocker::GenCreatePlacementGroupRequest("test_name");
+  auto request = Mocker::GenCreatePlacementGroupRequest("test_name");
   std::atomic<int> finished_placement_group_count(0);
   gcs_placement_group_manager_->RegisterPlacementGroup(
-      create_placement_group_request, [&finished_placement_group_count](Status status) {
+      std::make_shared<gcs::GcsPlacementGroup>(request),
+      [&finished_placement_group_count](Status status) {
         ++finished_placement_group_count;
       });
 
   ASSERT_EQ(finished_placement_group_count, 0);
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 1);
-  auto placement_group = mock_placement_group_scheduler_->placement_groups.back();
-  mock_placement_group_scheduler_->placement_groups.pop_back();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 1);
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  mock_placement_group_scheduler_->placement_groups_.pop_back();
 
   gcs_placement_group_manager_->OnPlacementGroupCreationSuccess(placement_group);
   WaitForExpectedCount(finished_placement_group_count, 1);
   ASSERT_EQ(placement_group->GetState(), rpc::PlacementGroupTableData::CREATED);
   ASSERT_EQ(
       gcs_placement_group_manager_->GetPlacementGroupIDByName("test_name"),
-      PlacementGroupID::FromBinary(
-          create_placement_group_request.placement_group_spec().placement_group_id()));
+      PlacementGroupID::FromBinary(request.placement_group_spec().placement_group_id()));
 }
 
 TEST_F(GcsPlacementGroupManagerTest, TestRescheduleWhenNodeAdd) {
-  auto create_placement_group_request = Mocker::GenCreatePlacementGroupRequest();
+  auto request = Mocker::GenCreatePlacementGroupRequest();
   std::atomic<int> finished_placement_group_count(0);
   gcs_placement_group_manager_->RegisterPlacementGroup(
-      create_placement_group_request, [&finished_placement_group_count](Status status) {
+      std::make_shared<gcs::GcsPlacementGroup>(request),
+      [&finished_placement_group_count](Status status) {
         ++finished_placement_group_count;
       });
   ASSERT_EQ(finished_placement_group_count, 0);
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 1);
-  auto placement_group = mock_placement_group_scheduler_->placement_groups.back();
-  mock_placement_group_scheduler_->placement_groups.pop_back();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 1);
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  mock_placement_group_scheduler_->placement_groups_.pop_back();
 
   // If the creation of placement group fails, it will be rescheduled after a short time.
   gcs_placement_group_manager_->OnPlacementGroupCreationFailed(placement_group);
   auto condition = [this]() {
-    return (int)mock_placement_group_scheduler_->placement_groups.size() == 1;
+    return (int)mock_placement_group_scheduler_->placement_groups_.size() == 1;
   };
   EXPECT_TRUE(WaitForCondition(condition, 10 * 1000));
 }
 
 TEST_F(GcsPlacementGroupManagerTest, TestRemovingPendingPlacementGroup) {
-  auto create_placement_group_request = Mocker::GenCreatePlacementGroupRequest();
+  auto request = Mocker::GenCreatePlacementGroupRequest();
   std::atomic<int> finished_placement_group_count(0);
   std::atomic<int> failed_placement_group_count(0);
   gcs_placement_group_manager_->RegisterPlacementGroup(
-      create_placement_group_request,
+      std::make_shared<gcs::GcsPlacementGroup>(request),
       [&finished_placement_group_count, &failed_placement_group_count](Status status) {
         if (status.ok()) {
           ++finished_placement_group_count;
@@ -175,9 +186,9 @@ TEST_F(GcsPlacementGroupManagerTest, TestRemovingPendingPlacementGroup) {
 
   ASSERT_EQ(finished_placement_group_count, 0);
   ASSERT_EQ(failed_placement_group_count, 0);
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 1);
-  auto placement_group = mock_placement_group_scheduler_->placement_groups.back();
-  mock_placement_group_scheduler_->placement_groups.clear();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 1);
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  mock_placement_group_scheduler_->placement_groups_.clear();
 
   gcs_placement_group_manager_->OnPlacementGroupCreationFailed(placement_group);
   ASSERT_EQ(placement_group->GetState(), rpc::PlacementGroupTableData::PENDING);
@@ -188,8 +199,8 @@ TEST_F(GcsPlacementGroupManagerTest, TestRemovingPendingPlacementGroup) {
 
   // Make sure it is not rescheduled
   gcs_placement_group_manager_->SchedulePendingPlacementGroups();
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 0);
-  mock_placement_group_scheduler_->placement_groups.clear();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 0);
+  mock_placement_group_scheduler_->placement_groups_.clear();
   WaitForExpectedCount(finished_placement_group_count, 0);
   WaitForExpectedCount(failed_placement_group_count, 1);
 
@@ -199,11 +210,11 @@ TEST_F(GcsPlacementGroupManagerTest, TestRemovingPendingPlacementGroup) {
 }
 
 TEST_F(GcsPlacementGroupManagerTest, TestRemovingLeasingPlacementGroup) {
-  auto create_placement_group_request = Mocker::GenCreatePlacementGroupRequest();
+  auto request = Mocker::GenCreatePlacementGroupRequest();
   std::atomic<int> finished_placement_group_count(0);
   std::atomic<int> failed_placement_group_count(0);
   gcs_placement_group_manager_->RegisterPlacementGroup(
-      create_placement_group_request,
+      std::make_shared<gcs::GcsPlacementGroup>(request),
       [&finished_placement_group_count, &failed_placement_group_count](Status status) {
         if (status.ok()) {
           ++finished_placement_group_count;
@@ -214,9 +225,9 @@ TEST_F(GcsPlacementGroupManagerTest, TestRemovingLeasingPlacementGroup) {
 
   ASSERT_EQ(finished_placement_group_count, 0);
   ASSERT_EQ(failed_placement_group_count, 0);
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 1);
-  auto placement_group = mock_placement_group_scheduler_->placement_groups.back();
-  mock_placement_group_scheduler_->placement_groups.clear();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 1);
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  mock_placement_group_scheduler_->placement_groups_.clear();
   ASSERT_EQ(placement_group->GetState(), rpc::PlacementGroupTableData::PENDING);
 
   // Placement group is in leasing state.
@@ -229,8 +240,8 @@ TEST_F(GcsPlacementGroupManagerTest, TestRemovingLeasingPlacementGroup) {
 
   // Make sure it is not rescheduled
   gcs_placement_group_manager_->SchedulePendingPlacementGroups();
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 0);
-  mock_placement_group_scheduler_->placement_groups.clear();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 0);
+  mock_placement_group_scheduler_->placement_groups_.clear();
   WaitForExpectedCount(finished_placement_group_count, 0);
   WaitForExpectedCount(failed_placement_group_count, 1);
 
@@ -240,16 +251,17 @@ TEST_F(GcsPlacementGroupManagerTest, TestRemovingLeasingPlacementGroup) {
 }
 
 TEST_F(GcsPlacementGroupManagerTest, TestRemovingCreatedPlacementGroup) {
-  auto create_placement_group_request = Mocker::GenCreatePlacementGroupRequest();
+  auto request = Mocker::GenCreatePlacementGroupRequest();
   std::atomic<int> finished_placement_group_count(0);
   gcs_placement_group_manager_->RegisterPlacementGroup(
-      create_placement_group_request, [&finished_placement_group_count](Status status) {
+      std::make_shared<gcs::GcsPlacementGroup>(request),
+      [&finished_placement_group_count](Status status) {
         if (status.ok()) {
           ++finished_placement_group_count;
         }
       });
-  auto placement_group = mock_placement_group_scheduler_->placement_groups.back();
-  mock_placement_group_scheduler_->placement_groups.pop_back();
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  mock_placement_group_scheduler_->placement_groups_.pop_back();
 
   gcs_placement_group_manager_->OnPlacementGroupCreationSuccess(placement_group);
   WaitForExpectedCount(finished_placement_group_count, 1);
@@ -267,8 +279,8 @@ TEST_F(GcsPlacementGroupManagerTest, TestRemovingCreatedPlacementGroup) {
 
   // Make sure it is not rescheduled
   gcs_placement_group_manager_->SchedulePendingPlacementGroups();
-  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups.size(), 0);
-  mock_placement_group_scheduler_->placement_groups.clear();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 0);
+  mock_placement_group_scheduler_->placement_groups_.clear();
   ASSERT_EQ(finished_placement_group_count, 1);
 
   // Make sure we can re-remove again.
@@ -276,6 +288,61 @@ TEST_F(GcsPlacementGroupManagerTest, TestRemovingCreatedPlacementGroup) {
       placement_group_id, [](Status status) { ASSERT_TRUE(status.ok()); });
 }
 
+TEST_F(GcsPlacementGroupManagerTest, TestRescheduleWhenNodeDead) {
+  auto request1 = Mocker::GenCreatePlacementGroupRequest();
+  std::atomic<int> finished_placement_group_count(0);
+  gcs_placement_group_manager_->RegisterPlacementGroup(
+      std::make_shared<gcs::GcsPlacementGroup>(request1),
+      [&finished_placement_group_count](Status status) {
+        ++finished_placement_group_count;
+      });
+  auto request2 = Mocker::GenCreatePlacementGroupRequest();
+  gcs_placement_group_manager_->RegisterPlacementGroup(
+      std::make_shared<gcs::GcsPlacementGroup>(request2),
+      [&finished_placement_group_count](Status status) {
+        ++finished_placement_group_count;
+      });
+  ASSERT_EQ(finished_placement_group_count, 0);
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 1);
+  auto placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  placement_group->GetMutableBundle(0)->set_node_id(ClientID::FromRandom().Binary());
+  placement_group->GetMutableBundle(1)->set_node_id(ClientID::FromRandom().Binary());
+  mock_placement_group_scheduler_->placement_groups_.pop_back();
+
+  // If a node dies, we will set the bundles above it to be unplaced and reschedule the
+  // placement group. The placement group state is set to `RESCHEDULING` and will be
+  // scheduled first.
+  mock_placement_group_scheduler_->group_on_dead_node_ =
+      placement_group->GetPlacementGroupID();
+  mock_placement_group_scheduler_->bundles_on_dead_node_.push_back(0);
+  gcs_placement_group_manager_->OnNodeDead(ClientID::FromRandom());
+
+  // Trigger scheduling `RESCHEDULING` placement group.
+  auto finished_group = std::make_shared<gcs::GcsPlacementGroup>(
+      placement_group->GetPlacementGroupTableData());
+  gcs_placement_group_manager_->OnPlacementGroupCreationSuccess(finished_group);
+  WaitForExpectedCount(finished_placement_group_count, 1);
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 1);
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_[0]->GetPlacementGroupID(),
+            placement_group->GetPlacementGroupID());
+  const auto &bundles =
+      mock_placement_group_scheduler_->placement_groups_[0]->GetBundles();
+  EXPECT_TRUE(ClientID::FromBinary(bundles[0]->GetMutableMessage().node_id()).IsNil());
+  EXPECT_FALSE(ClientID::FromBinary(bundles[1]->GetMutableMessage().node_id()).IsNil());
+
+  // If `RESCHEDULING` placement group fails to create, we will schedule it again first.
+  placement_group = mock_placement_group_scheduler_->placement_groups_.back();
+  mock_placement_group_scheduler_->placement_groups_.pop_back();
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_.size(), 0);
+  gcs_placement_group_manager_->OnPlacementGroupCreationFailed(placement_group);
+  auto condition = [this]() {
+    return (int)mock_placement_group_scheduler_->placement_groups_.size() == 1;
+  };
+  EXPECT_TRUE(WaitForCondition(condition, 10 * 1000));
+  ASSERT_EQ(mock_placement_group_scheduler_->placement_groups_[0]->GetPlacementGroupID(),
+            placement_group->GetPlacementGroupID());
+}
+
 }  // namespace ray
 
 int main(int argc, char **argv) {
diff --git a/src/ray/gcs/gcs_server/test/gcs_placement_group_scheduler_test.cc b/src/ray/gcs/gcs_server/test/gcs_placement_group_scheduler_test.cc
index 4eca5d985..c4455e389 100644
--- a/src/ray/gcs/gcs_server/test/gcs_placement_group_scheduler_test.cc
+++ b/src/ray/gcs/gcs_server/test/gcs_placement_group_scheduler_test.cc
@@ -37,17 +37,16 @@ class GcsPlacementGroupSchedulerTest : public ::testing::Test {
         io_service_, io_service_, gcs_pub_sub_, gcs_table_storage_);
     gcs_table_storage_ = std::make_shared<gcs::InMemoryGcsTableStorage>(io_service_);
     store_client_ = std::make_shared<gcs::InMemoryStoreClient>(io_service_);
-    gcs_placement_group_scheduler_ =
-        std::make_shared<GcsServerMocker::MockedGcsPlacementGroupScheduler>(
-            io_service_, gcs_table_storage_, *gcs_node_manager_,
-            /*lease_client_fplacement_groupy=*/
-            [this](const rpc::Address &address) {
-              if (0 == address.port()) {
-                return raylet_client_;
-              } else {
-                return raylet_client1_;
-              }
-            });
+    scheduler_ = std::make_shared<GcsServerMocker::MockedGcsPlacementGroupScheduler>(
+        io_service_, gcs_table_storage_, *gcs_node_manager_,
+        /*lease_client_fplacement_groupy=*/
+        [this](const rpc::Address &address) {
+          if (0 == address.port()) {
+            return raylet_client_;
+          } else {
+            return raylet_client1_;
+          }
+        });
   }
 
   void TearDown() override {
@@ -88,15 +87,15 @@ class GcsPlacementGroupSchedulerTest : public ::testing::Test {
     // Failed to schedule the placement group, because the node resources is not enough.
     auto request = Mocker::GenCreatePlacementGroupRequest("", strategy);
     auto placement_group = std::make_shared<gcs::GcsPlacementGroup>(request);
-    gcs_placement_group_scheduler_->Schedule(placement_group, failure_handler,
-                                             success_handler);
+    scheduler_->ScheduleUnplacedBundles(placement_group, failure_handler,
+                                        success_handler);
     WaitPendingDone(failure_placement_groups_, 1);
     ASSERT_EQ(0, success_placement_groups_.size());
 
     // A new node is added, and the rescheduling is successful.
     AddNode(Mocker::GenNodeInfo(0), 2);
-    gcs_placement_group_scheduler_->Schedule(placement_group, failure_handler,
-                                             success_handler);
+    scheduler_->ScheduleUnplacedBundles(placement_group, failure_handler,
+                                        success_handler);
     ASSERT_TRUE(raylet_client_->GrantResourceReserve());
     ASSERT_TRUE(raylet_client_->GrantResourceReserve());
     WaitPendingDone(success_placement_groups_, 1);
@@ -112,8 +111,7 @@ class GcsPlacementGroupSchedulerTest : public ::testing::Test {
   std::shared_ptr<GcsServerMocker::MockRayletResourceClient> raylet_client_;
   std::shared_ptr<GcsServerMocker::MockRayletResourceClient> raylet_client1_;
   std::shared_ptr<gcs::GcsNodeManager> gcs_node_manager_;
-  std::shared_ptr<GcsServerMocker::MockedGcsPlacementGroupScheduler>
-      gcs_placement_group_scheduler_;
+  std::shared_ptr<GcsServerMocker::MockedGcsPlacementGroupScheduler> scheduler_;
   std::vector<std::shared_ptr<gcs::GcsPlacementGroup>> success_placement_groups_;
   std::vector<std::shared_ptr<gcs::GcsPlacementGroup>> failure_placement_groups_;
   std::shared_ptr<GcsServerMocker::MockGcsPubSub> gcs_pub_sub_;
@@ -127,7 +125,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, TestScheduleFailedWithZeroNode) {
   auto placement_group = std::make_shared<gcs::GcsPlacementGroup>(request);
 
   // Schedule the placement_group with zero node.
-  gcs_placement_group_scheduler_->Schedule(
+  scheduler_->ScheduleUnplacedBundles(
       placement_group,
       [this](std::shared_ptr<gcs::GcsPlacementGroup> placement_group) {
         failure_placement_groups_.emplace_back(std::move(placement_group));
@@ -154,7 +152,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, TestSchedulePlacementGroupSuccess) {
 
   // Schedule the placement_group with 1 available node, and the lease request should be
   // send to the node.
-  gcs_placement_group_scheduler_->Schedule(
+  scheduler_->ScheduleUnplacedBundles(
       placement_group,
       [this](std::shared_ptr<gcs::GcsPlacementGroup> placement_group) {
         absl::MutexLock lock(&vector_mutex_);
@@ -184,7 +182,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, TestSchedulePlacementGroupFailed) {
 
   // Schedule the placement_group with 1 available node, and the lease request should be
   // send to the node.
-  gcs_placement_group_scheduler_->Schedule(
+  scheduler_->ScheduleUnplacedBundles(
       placement_group,
       [this](std::shared_ptr<gcs::GcsPlacementGroup> placement_group) {
         absl::MutexLock lock(&vector_mutex_);
@@ -216,7 +214,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, TestSchedulePlacementGroupReturnResource)
 
   // Schedule the placement_group with 1 available node, and the lease request should be
   // send to the node.
-  gcs_placement_group_scheduler_->Schedule(
+  scheduler_->ScheduleUnplacedBundles(
       placement_group,
       [this](std::shared_ptr<gcs::GcsPlacementGroup> placement_group) {
         absl::MutexLock lock(&vector_mutex_);
@@ -259,8 +257,8 @@ TEST_F(GcsPlacementGroupSchedulerTest, TestStrictPackStrategyBalancedScheduling)
     auto request =
         Mocker::GenCreatePlacementGroupRequest("", rpc::PlacementStrategy::STRICT_PACK);
     auto placement_group = std::make_shared<gcs::GcsPlacementGroup>(request);
-    gcs_placement_group_scheduler_->Schedule(placement_group, failure_handler,
-                                             success_handler);
+    scheduler_->ScheduleUnplacedBundles(placement_group, failure_handler,
+                                        success_handler);
 
     if (!raylet_client_->lease_callbacks.empty()) {
       ASSERT_TRUE(raylet_client_->GrantResourceReserve());
@@ -295,8 +293,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, TestStrictPackStrategyResourceCheck) {
   auto request =
       Mocker::GenCreatePlacementGroupRequest("", rpc::PlacementStrategy::STRICT_PACK);
   auto placement_group = std::make_shared<gcs::GcsPlacementGroup>(request);
-  gcs_placement_group_scheduler_->Schedule(placement_group, failure_handler,
-                                           success_handler);
+  scheduler_->ScheduleUnplacedBundles(placement_group, failure_handler, success_handler);
   ASSERT_TRUE(raylet_client_->GrantResourceReserve());
   ASSERT_TRUE(raylet_client_->GrantResourceReserve());
   WaitPendingDone(success_placement_groups_, 1);
@@ -309,8 +306,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, TestStrictPackStrategyResourceCheck) {
       Mocker::GenCreatePlacementGroupRequest("", rpc::PlacementStrategy::STRICT_PACK);
   auto placement_group2 =
       std::make_shared<gcs::GcsPlacementGroup>(create_placement_group_request2);
-  gcs_placement_group_scheduler_->Schedule(placement_group2, failure_handler,
-                                           success_handler);
+  scheduler_->ScheduleUnplacedBundles(placement_group2, failure_handler, success_handler);
   ASSERT_TRUE(raylet_client_->GrantResourceReserve());
   ASSERT_TRUE(raylet_client_->GrantResourceReserve());
   WaitPendingDone(success_placement_groups_, 2);
@@ -327,7 +323,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, DestroyPlacementGroup) {
 
   // Schedule the placement_group with 1 available node, and the lease request should be
   // send to the node.
-  gcs_placement_group_scheduler_->Schedule(
+  scheduler_->ScheduleUnplacedBundles(
       placement_group,
       [this](std::shared_ptr<gcs::GcsPlacementGroup> placement_group) {
         absl::MutexLock lock(&vector_mutex_);
@@ -342,14 +338,12 @@ TEST_F(GcsPlacementGroupSchedulerTest, DestroyPlacementGroup) {
   WaitPendingDone(failure_placement_groups_, 0);
   WaitPendingDone(success_placement_groups_, 1);
   const auto &placement_group_id = placement_group->GetPlacementGroupID();
-  gcs_placement_group_scheduler_->DestroyPlacementGroupBundleResourcesIfExists(
-      placement_group_id);
+  scheduler_->DestroyPlacementGroupBundleResourcesIfExists(placement_group_id);
   ASSERT_TRUE(raylet_client_->GrantCancelResourceReserve());
   ASSERT_TRUE(raylet_client_->GrantCancelResourceReserve());
 
   // Subsequent destroy request should not do anything.
-  gcs_placement_group_scheduler_->DestroyPlacementGroupBundleResourcesIfExists(
-      placement_group_id);
+  scheduler_->DestroyPlacementGroupBundleResourcesIfExists(placement_group_id);
   ASSERT_FALSE(raylet_client_->GrantCancelResourceReserve());
   ASSERT_FALSE(raylet_client_->GrantCancelResourceReserve());
 }
@@ -366,7 +360,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, DestroyCancelledPlacementGroup) {
 
   // Schedule the placement_group with 1 available node, and the lease request should be
   // send to the node.
-  gcs_placement_group_scheduler_->Schedule(
+  scheduler_->ScheduleUnplacedBundles(
       placement_group,
       [this](std::shared_ptr<gcs::GcsPlacementGroup> placement_group) {
         absl::MutexLock lock(&vector_mutex_);
@@ -379,7 +373,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, DestroyCancelledPlacementGroup) {
 
   // Now, cancel the schedule request.
   ASSERT_TRUE(raylet_client_->GrantResourceReserve());
-  gcs_placement_group_scheduler_->MarkScheduleCancelled(placement_group_id);
+  scheduler_->MarkScheduleCancelled(placement_group_id);
   ASSERT_TRUE(raylet_client_->GrantResourceReserve());
   ASSERT_TRUE(raylet_client_->GrantCancelResourceReserve());
   ASSERT_TRUE(raylet_client_->GrantCancelResourceReserve());
@@ -407,8 +401,7 @@ TEST_F(GcsPlacementGroupSchedulerTest, TestPackStrategyLargeBundlesScheduling) {
   auto request =
       Mocker::GenCreatePlacementGroupRequest("", rpc::PlacementStrategy::PACK, 15);
   auto placement_group = std::make_shared<gcs::GcsPlacementGroup>(request);
-  gcs_placement_group_scheduler_->Schedule(placement_group, failure_handler,
-                                           success_handler);
+  scheduler_->ScheduleUnplacedBundles(placement_group, failure_handler, success_handler);
   RAY_CHECK(raylet_client_->num_lease_requested > 0);
   RAY_CHECK(raylet_client1_->num_lease_requested > 0);
   for (int index = 0; index < raylet_client_->num_lease_requested; ++index) {
@@ -420,6 +413,51 @@ TEST_F(GcsPlacementGroupSchedulerTest, TestPackStrategyLargeBundlesScheduling) {
   WaitPendingDone(success_placement_groups_, 1);
 }
 
+TEST_F(GcsPlacementGroupSchedulerTest, TestRescheduleWhenNodeDead) {
+  auto node0 = Mocker::GenNodeInfo(0);
+  auto node1 = Mocker::GenNodeInfo(1);
+  AddNode(node0);
+  AddNode(node1);
+  ASSERT_EQ(2, gcs_node_manager_->GetAllAliveNodes().size());
+
+  auto create_placement_group_request = Mocker::GenCreatePlacementGroupRequest();
+  auto placement_group =
+      std::make_shared<gcs::GcsPlacementGroup>(create_placement_group_request);
+
+  // Schedule the placement group successfully.
+  auto failure_handler = [this](std::shared_ptr<gcs::GcsPlacementGroup> placement_group) {
+    absl::MutexLock lock(&vector_mutex_);
+    failure_placement_groups_.emplace_back(std::move(placement_group));
+  };
+  auto success_handler = [this](std::shared_ptr<gcs::GcsPlacementGroup> placement_group) {
+    absl::MutexLock lock(&vector_mutex_);
+    success_placement_groups_.emplace_back(std::move(placement_group));
+  };
+
+  scheduler_->ScheduleUnplacedBundles(placement_group, failure_handler, success_handler);
+  ASSERT_TRUE(raylet_client_->GrantResourceReserve());
+  ASSERT_TRUE(raylet_client1_->GrantResourceReserve());
+  WaitPendingDone(success_placement_groups_, 1);
+
+  auto bundles_on_node0 =
+      scheduler_->GetBundlesOnNode(ClientID::FromBinary(node0->node_id()));
+  ASSERT_EQ(1, bundles_on_node0.size());
+  auto bundles_on_node1 =
+      scheduler_->GetBundlesOnNode(ClientID::FromBinary(node1->node_id()));
+  ASSERT_EQ(1, bundles_on_node1.size());
+
+  // Node1 is dead, reschedule the placement group.
+  auto bundle_on_dead_node = placement_group->GetMutableBundle(0);
+  bundle_on_dead_node->clear_node_id();
+  scheduler_->ScheduleUnplacedBundles(placement_group, failure_handler, success_handler);
+  if (0 == bundles_on_node0[placement_group->GetPlacementGroupID()][0]) {
+    ASSERT_TRUE(raylet_client_->GrantResourceReserve());
+  } else {
+    ASSERT_TRUE(raylet_client1_->GrantResourceReserve());
+  }
+  WaitPendingDone(success_placement_groups_, 2);
+}
+
 }  // namespace ray
 
 int main(int argc, char **argv) {
diff --git a/src/ray/protobuf/common.proto b/src/ray/protobuf/common.proto
index 178e8dfc7..b776ec5ef 100644
--- a/src/ray/protobuf/common.proto
+++ b/src/ray/protobuf/common.proto
@@ -146,6 +146,8 @@ message Bundle {
   }
   BundleIdentifier bundle_id = 1;
   map<string, double> unit_resources = 2;
+  // The location of this bundle.
+  bytes node_id = 3;
 }
 
 message PlacementGroupSpec {
@@ -192,11 +194,11 @@ message ActorCreationTaskSpec {
   repeated string dynamic_worker_options = 4;
   // The max number of concurrent calls for direct call actors.
   int32 max_concurrency = 5;
-  // Whether the actor is persistent
+  // Whether the actor is persistent.
   bool is_detached = 6;
   // Globally-unique name of the actor. Should only be populated when is_detached is true.
   string name = 7;
-  // Whether the actor use async actor calls
+  // Whether the actor use async actor calls.
   bool is_asyncio = 8;
   // Field used for storing application-level extensions to the actor definition.
   string extension_data = 9;
diff --git a/src/ray/protobuf/gcs.proto b/src/ray/protobuf/gcs.proto
index 7b003ed35..8a4fe4a9d 100644
--- a/src/ray/protobuf/gcs.proto
+++ b/src/ray/protobuf/gcs.proto
@@ -169,6 +169,8 @@ message PlacementGroupTableData {
     CREATED = 1;
     // Placement Group is already removed and won't be reschedule.
     REMOVED = 2;
+    // Placement Group is rescheduling because the node it placed is dead.
+    RESCHEDULING = 3;
   }
 
   // ID of the PlacementGroup.