Cyber-Physical Systems (CPS) form an emerging discipline that integrates embedded computers with the physical processes under control. Typically, Cyber-Physical applications include low profile computing components, such as sensors and actuators that must communicate to carry out complex tasks. They may be found in different applications domains e.g. intelligent buildings, industrial automation or critical infrastructure control. This kind of applications requires certain features such as autonomy, fault tolerance, energy efficiency or solving heterogeneity and configurability issues. However, managing the communication issues in this kind of applications can be relatively complex. In this scenario, middleware technologies can help developers in the design of the next generation of CPS. This work describes the design principles of a type of CPS that requires cooperation. More specifically, it presents a generic family of logical cooperation topologies capable of adapting dynamically to changes in the environment.
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