  Software companies that develop their products on a basis of service-oriented
architecture (SOA) can expect various improvements as a result of choreography.
Current choreography practices, however, are not yet used extensively in the
embedded systems domain even though SOA is increasingly used in this domain.
The objective of this study is to identify current features of the use of
choreography in the embedded systems domain for practitioners and researchers
by systematically analysing current developments in the scientific literature,
strategies for choreography adaption, choreography specification and execution
types, and implicit assumptions about choreography. To fulfil this objective, a
systematic literature review of scientific publications that focus on the use
of choreography in the embedded systems domain was carried out. After
screening, 48 publications were selected as primary studies and analysed using
thematic synthesis. The main results of the study showed that there are
differences in how choreography is used in embedded and non-embedded systems
domain. In the embedded systems domain, it is used to capture the service
interactions of a single organisation, while, for example, in the enterprise
systems domain it captures the service interactions among multiple
organisations. Additionally, the results indicate that the use of choreography
can lead to improvements in system performance and that the languages that are
used for choreography modelling in the embedded systems domain are
insufficiently expressive to capture the complexities that are typical in this
domain. The study results facilitate the work of practitioners by allowing them
to make informed decisions about the applicability of choreography in their
organisations.
