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Resilience has been successfully realized in automotive systems to increase system reliability at reasonable costs. Using dynamic adaptation, the system adapts to runtime errors - caused by internal system faults or adverse environmental situations like critical driving situations - in order to provide the best possible functionality and to guarantee system safety in any given system and environmental state. This paper introduces an engineering approach for developing resilient systems using dynamic adaptation. The approach is based on component-oriented modeling and on analyses of component compositions. We describe how component-oriented modeling and compositional analyses enable the usage of dynamic adaptation for achieving a trade-off between availability and cost in safety-critical, resilient systems and how it helps to manage the complexity inherent in component composition.