Abstract
A main advantage of control composition with modal processes [4] is the enhanced retargetability of the composed behavior over a wide variety of target architectures. Unlike previous component models that hardwire the coordination behavior either explicitly in the components or implicitly in the underlying model of computation, modal processes decouple component functionality and coordination protocols. Retargetability is achieved through the synthesis of distributed mode managers, which abstract away low-level synchronization and control communication details that would otherwise be exposed to the component designer. This paper presents an algorithm for the synthesis and optimization of distributed coordination controllers by computing an optimal projection of the global state space onto each processor. It not only minimizes interprocessor communication traffic for coordination but also reduces controller complexity by minimizing replication.