A Cyber-Physical System (CPS) is a combination of multiple physical devices connected and organized by a central controlling infrastructure using a feedback-loop mechanism. In order to increase the autonomy of CPS they must be connected to rich cloud services (e.g., social software and elastic resource services) enabling more sophisticated decision making. Traditionally, software agents are used in these systems to automate computational tasks by separating decision making from routine execution and hence letting the systems act autonomously. In this paper, the Advanced Autonomous Participation Scheme (AdAPtS) is proposed that can selectively cover autonomous computing on both the decision and the execution level, thus enabling classical cloud services embedded into CPS on a range from user-controlled devices to fully autonomous robots.