diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7d2ceaf..b4fa4ed 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,13 +1,64 @@
 Embedded Multicore Building Blocks (EMB²)
 =========================================
 
-Version 0.2.3
+Version 0.3.0
 -------------
 
+### Features:
+- mtapi_c:
+    - Implemented action plugin API
+    - Implemented load balancing for distributed/heterogeneous systems
+    - Implemented OpenCL action plugin
+    - Implemented network action plugin
+- mtapi_cpp:
+    - Added support for distributed/heterogeneous systems
+
+### Changes and improvements:
+- mtapi_c:
+    - Added multi-instance task support and test
+    - Improved notification of worker threads
+- mtapi_cpp:
+    - Moved interface for homogeneous systems to tasks_cpp
+- base_cpp:
+    - Moved tick types to internal namespace and added duration typedefs
+- dataflow_cpp:
+    - Removed spinlocks
+    - Simplified registration of processes (only sources need to be added)
+    - Increased number of task queues in unit test
+    - Added assertion in unit test
+    - Improved exception handling
+    - Removed stray include
+    - Refactored to use tasks_cpp
+- algorithms_cpp:
+    - Restricted partitioners to random access iterators
+    - Added unit tests for partitioners on large ranges
+    - Refactored to use tasks_cpp
+
 ### Bug fixes:
-- Fixed freeing of temporary buffer in MergeSortAllocate
-- Fixed minor bugs in mtapi_c
-- Fixed paths in Doxyfile.in template
+- Fixed unit test for dataflow_cpp
+- Fixed wait-free SPSC queue
+
+### Build system:
+- Fixed compilation for newer CMake Versions (>= 3.1)
+- Changed task test to avoid Jenkins timeout
+- Changed CMakeLists to avoid error if policy is unknown
+- Added mtapi_network_c and mtapi_opencl_c to root CMakeLists
+- Added tasks_cpp to test scripts / batch file
+- Fixed cpplint warnings
+
+### Documentation:
+- Extended tutorial and examples regarding support for distributed/heterogeneous systems including plugins and new task interface
+- Added Doxygen documentation for mtapi_opencl_c and mtapi_network_c
+- Added Doxygen documentation to mtapi_ext.h
+- Updated README and removed limitation to homogeneous systems
+- Added missing concurrency tags in mtapi_cpp
+
+
+Version 0.2.3
+-------------
+
+### Features:
+- None
 
 ### Changes and improvements:
 - Changed use of partitioners in ForEach, Reduce, Scan, Count, and MergeSort
@@ -21,8 +72,10 @@ Version 0.2.3
 - Added tests for Thread::ID (base_cpp), ExecutionPolicy (mtapi_cpp), and error cases in mtapi_c
 - Added tests on empty and negative input ranges in algorithms
 
-### Features:
-- None
+### Bug fixes:
+- Fixed freeing of temporary buffer in MergeSortAllocate
+- Fixed minor bugs in mtapi_c
+- Fixed paths in Doxyfile.in template
 
 ### Build system:
 - Added option to CMake to toggle automatic initialization of MTAPI C++ interface
@@ -43,17 +96,8 @@ Version 0.2.3
 Version 0.2.2
 -------------
 
-### Bug fixes:
-- Fixed 64bit problem in atomics
-- Fixed bug in dataflow_cpp causing network to hang
-- Fixed bug in conversion of core_set
-- Fixed fetch-and-add implementation to support armv7-a
-- Fixed missing freeing of mutex attributes in case of error
-- Fixed bug where closure was allocated with Allocation::New but deleted with operator delete
-- Fixed inconsistent naming of unit test cases
-- Fixed memory allocation in hazard pointer implementation by replacing calls to new and delete with EMB²-specific functions
-- Fixed memory leak in tests for containers
-- Fixed affinity implementation for FreeBSD
+### Features:
+- None
 
 ### Changes and improvements:
 - Added checks for memory leaks in tests
@@ -66,8 +110,17 @@ Version 0.2.2
 - Added assert in embb_tss_get
 - Moved ExecutionPolicy from algorithms to mtapi_cpp, removed Affinity
 
-### Features:
-- None
+### Bug fixes:
+- Fixed 64bit problem in atomics
+- Fixed bug in dataflow_cpp causing network to hang
+- Fixed bug in conversion of core_set
+- Fixed fetch-and-add implementation to support armv7-a
+- Fixed missing freeing of mutex attributes in case of error
+- Fixed bug where closure was allocated with Allocation::New but deleted with operator delete
+- Fixed inconsistent naming of unit test cases
+- Fixed memory allocation in hazard pointer implementation by replacing calls to new and delete with EMB²-specific functions
+- Fixed memory leak in tests for containers
+- Fixed affinity implementation for FreeBSD
 
 ### Build system:
 - Removed cppcheck warnings
@@ -89,14 +142,17 @@ Version 0.2.2
 Version 0.2.1
 -------------
 
+### Features:
+- Added embb_core_count_available() implementation for FreeBSD.
+
+### Changes and improvements:
+- None
+
 ### Bug fixes:
 - Fixed implementation of atomic operations on ARM.
 - Fixed bug in HelpScan routine of hazard pointer implementation.
 - Replaced inclusion of non-standard header malloc.h with stdlib.h.
 
-### Features:
-- Added embb_core_count_available() implementation for FreeBSD.
-
 ### Build system:
 - Added initial support for Clang.
 - Added initial support for Travis.
@@ -111,7 +167,7 @@ Version 0.2.1
 
 ### Documentation:
 - Updated README file, created CHANGELOG file, and added markdown support.
-- Corrected license in COPYING.md (BSD 2-clause).
+- Corrected license in COPYING file (BSD 2-clause).
 - Changed default Doxygen level for API to two.
 - Added check for Doxyfile.in (if not present, do not add Doxygen target).
 - Added PDF image of building blocks and updated tutorial.tex.
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 837e52c..ed453d0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,8 +27,8 @@ cmake_minimum_required (VERSION 2.8.9)
 
 # Version number
 set (EMBB_BASE_VERSION_MAJOR 0)
-set (EMBB_BASE_VERSION_MINOR 2)
-set (EMBB_BASE_VERSION_PATCH 4)
+set (EMBB_BASE_VERSION_MINOR 3)
+set (EMBB_BASE_VERSION_PATCH 0)
 
 # Fix compilation for CMake versions >= 3.1
 #
diff --git a/containers_cpp/include/embb/containers/wait_free_spsc_queue.h b/containers_cpp/include/embb/containers/wait_free_spsc_queue.h
index 1fabf3f..30f7235 100644
--- a/containers_cpp/include/embb/containers/wait_free_spsc_queue.h
+++ b/containers_cpp/include/embb/containers/wait_free_spsc_queue.h
@@ -154,7 +154,7 @@ class WaitFreeSPSCQueue {
   /**
    * Creates a queue with at least the specified capacity.
    *
-   * \memory Allocates \c 2^k elements of type \c Type, where \k is the
+   * \memory Allocates \c 2^k elements of type \c Type, where \c k is the
    * smallest number such that <tt>capacity <= 2^k</tt> holds.
    *
    * \notthreadsafe
diff --git a/containers_cpp/test/queue_test-inl.h b/containers_cpp/test/queue_test-inl.h
index b871965..3e63930 100644
--- a/containers_cpp/test/queue_test-inl.h
+++ b/containers_cpp/test/queue_test-inl.h
@@ -290,7 +290,7 @@ QueueTestSingleThreadEnqueueDequeue_ThreadMethod() {
   }
   // Oversized amount should not be larger than the original capacity
   PT_ASSERT_LT(oversized_count, 2 * n_queue_size);
- 
+
   // Dequeue the expected amount of elements
   for (int i = 0; i != n_queue_size; ++i) {
     element_t dequ(0, -1);
diff --git a/dataflow_cpp/test/dataflow_cpp_test_simple.cc b/dataflow_cpp/test/dataflow_cpp_test_simple.cc
index 80450b5..78af07c 100644
--- a/dataflow_cpp/test/dataflow_cpp_test_simple.cc
+++ b/dataflow_cpp/test/dataflow_cpp_test_simple.cc
@@ -149,7 +149,7 @@ SimpleTest::SimpleTest() {
 void SimpleTest::TestBasic() {
   // All available cores
   embb::base::CoreSet core_set(true);
-  int num_cores = core_set.Count();
+  unsigned int num_cores = core_set.Count();
   embb::tasks::Node::Initialize(
     MTAPI_DOMAIN_ID,
     MTAPI_NODE_ID,
@@ -160,8 +160,7 @@ void SimpleTest::TestBasic() {
     // with (max_queues + 1), see defect embb449
     num_cores + 1, // max queues (default: 16)
     1024, // queue capacity (default: 1024)
-    4     // num priorities (default: 4)
-  );
+    4);   // num priorities (default: 4)
 
   for (int ii = 0; ii < 10000; ii++) {
     ArraySink<TEST_COUNT> asink;
diff --git a/doc/examples/mtapi/mtapi_c_network-fragmented.cc b/doc/examples/mtapi/mtapi_c_network-fragmented.cc
index eafc07a..777e74c 100644
--- a/doc/examples/mtapi/mtapi_c_network-fragmented.cc
+++ b/doc/examples/mtapi/mtapi_c_network-fragmented.cc
@@ -25,10 +25,10 @@
  */
 
 #include <embb/mtapi/c/mtapi.h>
-#include "mtapi_network_c_header-snippet.h"
+#include "mtapi/mtapi_network_c_header-snippet.h"
 #include <embb/base/c/internal/unused.h>
 
-#include "mtapi_check_status-snippet.h"
+#include "mtapi/mtapi_check_status-snippet.h"
 
 #define NETWORK_DOMAIN 1
 #define NETWORK_LOCAL_NODE 3
@@ -36,7 +36,7 @@
 #define NETWORK_REMOTE_NODE 3
 #define NETWORK_REMOTE_JOB 4
 
-#include "mtapi_network_c_action_function-snippet.h"
+#include "mtapi/mtapi_network_c_action_function-snippet.h"
 
 void RunMTAPI_C_Network() {
   mtapi_status_t status;
@@ -61,13 +61,13 @@ void RunMTAPI_C_Network() {
     &status);
   MTAPI_CHECK_STATUS(status);
 
-#include "mtapi_network_c_plugin_initialize-snippet.h"
+#include "mtapi/mtapi_network_c_plugin_initialize-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
-#include "mtapi_network_c_remote_action_create-snippet.h"
+#include "mtapi/mtapi_network_c_remote_action_create-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
-#include "mtapi_network_c_local_action_create-snippet.h"
+#include "mtapi/mtapi_network_c_local_action_create-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
   job = mtapi_job_get(NETWORK_LOCAL_JOB, NETWORK_DOMAIN, &status);
@@ -94,7 +94,7 @@ void RunMTAPI_C_Network() {
     }
   }
 
-#include "mtapi_network_c_plugin_finalize-snippet.h"
+#include "mtapi/mtapi_network_c_plugin_finalize-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
   mtapi_finalize(&status);
diff --git a/doc/examples/mtapi/mtapi_c_opencl-fragmented.cc b/doc/examples/mtapi/mtapi_c_opencl-fragmented.cc
index 741c461..074744a 100644
--- a/doc/examples/mtapi/mtapi_c_opencl-fragmented.cc
+++ b/doc/examples/mtapi/mtapi_c_opencl-fragmented.cc
@@ -25,16 +25,16 @@
  */
 
 #include <embb/mtapi/c/mtapi.h>
-#include "mtapi_opencl_c_header-snippet.h"
+#include "mtapi/mtapi_opencl_c_header-snippet.h"
 
-#include "mtapi_check_status-snippet.h"
+#include "mtapi/mtapi_check_status-snippet.h"
 
 #define OPENCL_DOMAIN 1
 #define OPENCL_NODE 2
 #define OPENCL_JOB 2
 
 // OpenCL Kernel Function for element by element vector addition
-#include "mtapi_opencl_c_kernel-snippet.h"
+#include "mtapi/mtapi_opencl_c_kernel-snippet.h"
 
 void RunMTAPI_C_OpenCL() {
   mtapi_status_t status;
@@ -59,10 +59,10 @@ void RunMTAPI_C_OpenCL() {
     &status);
   MTAPI_CHECK_STATUS(status);
 
-#include "mtapi_opencl_c_plugin_initialize-snippet.h"
+#include "mtapi/mtapi_opencl_c_plugin_initialize-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
-#include "mtapi_opencl_c_action_create-snippet.h"
+#include "mtapi/mtapi_opencl_c_action_create-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
   status = MTAPI_ERR_UNKNOWN;
@@ -90,7 +90,7 @@ void RunMTAPI_C_OpenCL() {
     }
   }
 
-#include "mtapi_opencl_c_plugin_finalize-snippet.h"
+#include "mtapi/mtapi_opencl_c_plugin_finalize-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
   mtapi_finalize(&status);
diff --git a/doc/examples/mtapi/mtapi_c_plugin-fragmented.cc b/doc/examples/mtapi/mtapi_c_plugin-fragmented.cc
index b1918ee..b072164 100644
--- a/doc/examples/mtapi/mtapi_c_plugin-fragmented.cc
+++ b/doc/examples/mtapi/mtapi_c_plugin-fragmented.cc
@@ -42,15 +42,15 @@
 #define PLUGIN_NODE_ID 1
 #define PLUGIN_JOB_ID 1
 
-#include "mtapi_check_status-snippet.h"
+#include "mtapi/mtapi_check_status-snippet.h"
 
-#include "mtapi_c_plugin_task_schedule-snippet.h"
+#include "mtapi/mtapi_c_plugin_task_schedule-snippet.h"
 
-#include "mtapi_c_plugin_task_start_cb-snippet.h"
+#include "mtapi/mtapi_c_plugin_task_start_cb-snippet.h"
 
-#include "mtapi_c_plugin_task_cancel_cb-snippet.h"
+#include "mtapi/mtapi_c_plugin_task_cancel_cb-snippet.h"
 
-#include "mtapi_c_plugin_action_finalize_cb-snippet.h"
+#include "mtapi/mtapi_c_plugin_action_finalize_cb-snippet.h"
 
 void RunMTAPI_C_Plugin() {
   mtapi_status_t status;
@@ -66,13 +66,13 @@ void RunMTAPI_C_Plugin() {
     &status);
   MTAPI_CHECK_STATUS(status);
 
-#include "mtapi_c_plugin_action_create-snippet.h"
+#include "mtapi/mtapi_c_plugin_action_create-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
-#include "mtapi_c_plugin_get_job-snippet.h"
+#include "mtapi/mtapi_c_plugin_get_job-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
-#include "mtapi_c_plugin_task_start-snippet.h"
+#include "mtapi/mtapi_c_plugin_task_start-snippet.h"
   MTAPI_CHECK_STATUS(status);
 
   mtapi_task_wait(task, MTAPI_INFINITE, &status);
diff --git a/doc/reference/Doxyfile.in b/doc/reference/Doxyfile.in
index 76fc226..8ab6642 100644
--- a/doc/reference/Doxyfile.in
+++ b/doc/reference/Doxyfile.in
@@ -191,8 +191,6 @@ REFERENCES_LINK_SOURCE = YES
 SOURCE_TOOLTIPS        = YES
 USE_HTAGS              = NO
 VERBATIM_HEADERS       = YES
-CLANG_ASSISTED_PARSING = NO
-CLANG_OPTIONS          = 
 
 # ==============================================================================
 # Options related to alphabetical class index
diff --git a/doc/reference/embb.dox b/doc/reference/embb.dox
index 73402be..4711e21 100644
--- a/doc/reference/embb.dox
+++ b/doc/reference/embb.dox
@@ -34,9 +34,9 @@ priority inversion. As another advantage in real-time systems, the
 algorithms and data structures give certain progress guarantees. For
 example, wait-free data structures guarantee system-wide progress which
 means that every operation completes within a finite number of steps
-independently of any other concurrent operations on the same data
-structure.
+independently of any other concurrent operations on the same
+data structure.
 
-\image html ../images/embb.png
+\image html ./images/embb.png
 
 */
diff --git a/mtapi_c/include/embb/mtapi/c/mtapi_ext.h b/mtapi_c/include/embb/mtapi/c/mtapi_ext.h
index b2b4c26..54630b2 100644
--- a/mtapi_c/include/embb/mtapi/c/mtapi_ext.h
+++ b/mtapi_c/include/embb/mtapi/c/mtapi_ext.h
@@ -149,15 +149,23 @@ typedef void(*mtapi_ext_plugin_action_finalize_function_t)(
  * \ingroup C_MTAPI_EXT
  */
 mtapi_action_hndl_t mtapi_ext_plugin_action_create(
-  MTAPI_IN mtapi_job_id_t job_id,
+  MTAPI_IN mtapi_job_id_t job_id, /**< [in] Job id */
   MTAPI_IN mtapi_ext_plugin_task_start_function_t task_start_function,
+                              /**< [in] Task start function */
   MTAPI_IN mtapi_ext_plugin_task_cancel_function_t task_cancel_function,
+                              /**< [in] Task cancel function */
   MTAPI_IN mtapi_ext_plugin_action_finalize_function_t action_finalize_function,
+                              /**< [in] Finalize action function */
   MTAPI_IN void* plugin_data,
+                              /**< [in] Pointer to plugin data */
   MTAPI_IN void* node_local_data,
+                              /**< [in] Pointer to node local data */
   MTAPI_IN mtapi_size_t node_local_data_size,
+                              /**< [in] Size of node local data */
   MTAPI_IN mtapi_action_attributes_t* attributes,
-  MTAPI_OUT mtapi_status_t* status
+                              /**< [out] Pointer to attributes */
+  MTAPI_OUT mtapi_status_t* status/**< [out] Pointer to error code,
+                                             may be \c MTAPI_NULL */
 );
 
 
diff --git a/mtapi_c/src/embb_mtapi_task_t.c b/mtapi_c/src/embb_mtapi_task_t.c
index e2f47dd..ce6511b 100644
--- a/mtapi_c/src/embb_mtapi_task_t.c
+++ b/mtapi_c/src/embb_mtapi_task_t.c
@@ -281,8 +281,8 @@ static mtapi_task_hndl_t embb_mtapi_task_start(
 
             for (mtapi_uint_t kk = 0; kk < task->attributes.num_instances;
               kk++) {
-              was_scheduled = was_scheduled &
-                embb_mtapi_scheduler_schedule_task(scheduler, task, kk);
+              was_scheduled = (mtapi_boolean_t)(was_scheduled &
+                embb_mtapi_scheduler_schedule_task(scheduler, task, kk));
             }
           }
 
diff --git a/mtapi_cpp/include/embb/mtapi/status_exception.h b/mtapi_cpp/include/embb/mtapi/status_exception.h
index a69c78a..5f1504b 100644
--- a/mtapi_cpp/include/embb/mtapi/status_exception.h
+++ b/mtapi_cpp/include/embb/mtapi/status_exception.h
@@ -51,7 +51,10 @@ class StatusException : public embb::base::Exception {
   }
 
   /**
-   * Returns the code of the exception.
+   * Code associated with this exception
+   *
+   * \returns An integer representing the code of the exception
+   *
    * \waitfree
    */
   virtual int Code() const { return EMBB_ERROR; }
diff --git a/mtapi_opencl_c/src/embb_mtapi_opencl.c b/mtapi_opencl_c/src/embb_mtapi_opencl.c
index 2be0693..a4b7e19 100644
--- a/mtapi_opencl_c/src/embb_mtapi_opencl.c
+++ b/mtapi_opencl_c/src/embb_mtapi_opencl.c
@@ -270,7 +270,6 @@ void mtapi_opencl_plugin_initialize(
         NULL, NULL, &err);
     }
     if (CL_SUCCESS == err) {
-      size_t work_group_size;
       err = clGetDeviceInfo(plugin->device_id, CL_DEVICE_MAX_WORK_GROUP_SIZE,
         sizeof(size_t), &plugin->work_group_size, NULL);
     }