This presentation describes the activities carried out within my research team and in collaboration with several researchers (national and international scale). They are related to the field of design of "non-centralized" control architectures. The core of our activity is based on a basic postulate which is the definition of control architectures consisting of autonomous entities (agents, holons, etc.) orchestrated and interacting to implement a common function while facing the unexpected. The non centralization is thus a prerequisite to our developments, but remains a reference framework to establish patterns of comparison. Our activities are clearly related to the concept of CPHS (Cyber-Physical Human System) because our architectures mix physical and digital worlds connected by network and presuppose the presence of man in these worlds. The functions that are addressed in this presentation are scheduling, supervision and maintenance. The applications are in production (industry 4.0), transportation and logistics.