“…Note that, while the tower of reflection relies on a white-box architecture, the Russian Dolls approach can deal equally well with black-box components, because wrapped configurations can be managed by message passing. RRD has been further exploited for modeling policy-based coordination [73], for the design of PAGODA, a modular architecture for specifying autonomous systems [74], in the composite actors used in [32], and, by ourselves, in the design and analysis of self-assembly strategies for robot swarms [21].…”