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Modern software systems challenge engineers with new critical requirements. Software must adapt effectively and efficiently with respect to the environment in which it is deployed. In this paper we introduce A-3: a framework for engineering distributed, component-based systems that facilitates the coordination of its components and the implementation of adaptive features. In A-3, a system's components are dynamically organized into groups. Groups solve the common pitfalls of completely centralized or decentralized approaches. They increase scalability, avoid single points of failure and bottlenecks, and provide a means to reason on a system at a local level, but still reach global results. The paper presents the model behind A-3, a prototype framework implementation, and detailed examples of how coordination and adaptation can be achieved. It also presents an initial empirical evaluation of the prototype that shows that the framework scales well to hundreds of components.