Brussels called for the creation of an EU coastguard force by the summer, help for Greece to strengthen its external border, and to ensure the cooperation of Turkey in stemming the flow of migrants.
The plan was announced as figures showed that a record 1.25 million asylum seekers arrived in the EU in 2015, more than double the figure from the previous year.
"Let me be crystal clear on the ultimate objective of today's roadmap," EU Migration Commissioner Dimitris Avramopoulos told a news conference.
The 26-country Schengen area -- allowing passport-free travel from Iceland to Greece -- is under threat as eight countries have reintroduced border controls to stem the flow of migrants through the bloc.
Most migrants arrive in the Greek islands over the Aegean Sea from Turkey, but a majority then travel up through the Balkans to wealthy Germany.
The European Commission said that re-establishing border controls in the Schengen area could cost between five billion and 18 billion euros (USD 5.5 billion to 20 billion) a year -- equivalent to 0.05 per cent to 0.13 per cent of the bloc's economic output.
The roadmap also says the EU will set out a replacment for the Dublin rules, under which refugees must claim asylum from the first country they arrive in -- currently most often Greece -- and should be returned there if they move on somewhere else.
The Commission plan also calls for member states to stop the "wave through" of migrants to other countries.
An EU border and coastguard system that European leaders have agreed to create should be operational by September at the latest, the plan says.
The EU would also allocate a further 95 milllion euros in aid for refugees in Turkey, he said, the first part of three billion euros in assistance that Brussels has promised under the deal.
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