Unmanned Aerial Vehicle is a common application of critical embedded systems. The heterogeneity prevalent in these vehicles in terms of services for avionics is particularly relevant to the elaboration of multi-application missions. Besides, this heterogeneity in UAV services is often manifested in the form of characteristics such as reliability, security and performance. Different service implementations typically offer different guarantees in terms of these characteristics and in terms of associated costs. Particularly, we explore the notion of Service-Oriented Architecture (SOA) in the context of UAVs as safety-critical embedded systems for the composition of services to fulfil application-specified performance and dependability guarantees. So, we propose a framework for the deployment of these services and their variants. This framework is called Knowledge-Based Framework for Dynamically Changing Applications (KBF) and we specify its services module, discussing all the related issues.
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