This paper presents Roboconf, an open-source distributed application orchestration framework for multi-cloud platforms, designed to solve challenges of current Autonomic Computing Systems in the era of Cloud computing. It provides a Domain Specific Language (DSL) which allows to describe applications and their execution environments (cloud platforms) in a hierarchical way in order to provide a fine-grained management. Roboconf implements an asynchronous and parallel deployment protocol which accelerates and makes resilient the deployment process. Intensive experiments with different type of applications over different cloud models (e.g. private, hybrid, and multi-cloud) validate the genericity of Roboconf. These experiments also demonstrate its efficiency comparing to existing frameworks such as RightScale, Scalr, and Cloudify.