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This paper describes a dynamic gateway selection algorithm for cross-domain routing. The proposed cross-layer algorithm is designed on top of the XLayer communications substrate. In the context of this work, cross-domain routing refers to seamlessly routing across different networks running different routing algorithms without pre-defined gateways or a common underlaying protocol. We first provide a brief introduction of the XLayer communications substrate and the adaptive routing controller. After describing the algorithm and a summary of the proposed architecture, a proof-of-concept implementation is evaluated for a simple scenario developed in NS-2. Our preliminary results are encouraging and show the potential of our proposed strategy for dynamic gateway selection and cross-domain routing.