This PhD work takes place within a broader context of service-oriented computing. Precisely, it defines an autonomic Enterprise Service Bus (ESB) with self-management ability regarding certain aspects. This ESB, named autonomic Cilia, allows the simplified development of context-aware mediation applications. Autonomic Cilia permits the runtime optimization of resources used by its execution machine and the dynamic adaptation of mediation chains, regarding configuration and topology. Our framework can also retrieve at any time a simplified model of the mediation chains execution. Such models enable reasoning and decision making easier to implement for mediation developers. The work presented in this thesis has been validated in the context of pervasive computing. In particular, autonomic Cilia has been used and instrumented to implement healthcare applications in smart homes. The autonomic Cilia framework is available in open source.