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Managing a large number of heterogeneous nodes in a network of embedded systems is a challenging task, mainly due to differences in requirements and resources. Nano nodes with very limited capabilities, such as the nodes of a Wireless Sensor Network (WSN), may not be suitable for adopting solutions designed for power nodes that have no such constraints. Using these devices in dynamic, ad-hoc infrastructures that feature a plethora of characteristics, has brought up the need for appropriate management of participating nodes to satisfy the corresponding policy restrictions. Many schemes have been proposed for various types of devices in terms of resources, ranging from the well-studied policy-based management in computer networks to the more challenging management in sensor networks. This paper identifies these schemes and proposes a framework for the secure and interoperable policy-based management of heterogeneous, resource-constrained, embedded systems networks.