We present an approach for (re-)configuring the collaboration of software modules on board an autonomous device. The proposed methodology largely is based on principles of logics: Different configurations are evaluated on the fly before one configuration is chosen and applied to the system. Each configuration has its own semantical meaning that is also included in the decision process. The set of all possible configurations is stored in a knowledge base that is queried before choosing a configuration. The presented approach allows to specify preferred configurations. We present first results obtained by running a prototype implementation of the presented methodology at the end of the paper.