diff --git a/fairmq/sdk/Topology.h b/fairmq/sdk/Topology.h
index b881ef28..0068f006 100644
--- a/fairmq/sdk/Topology.h
+++ b/fairmq/sdk/Topology.h
@@ -198,7 +198,82 @@ class BasicTopology : public AsioBase<Executor, Allocator>
     /// @param token Asio completion token
     /// @tparam CompletionToken Asio completion token type
     /// @throws std::system_error
-    /// TODO usage examples
+    ///
+    /// @par Usage examples
+    /// With lambda:
+    /// @code
+    /// topo.AsyncChangeState(
+    ///     fair::mq::sdk::TopologyTransition::InitDevice,
+    ///     std::chrono::milliseconds(500),
+    ///     [](std::error_code ec, TopologyState state) {
+    ///         if (!ec) {
+    ///             // success
+    ///          } else if (ec.category().name() == "fairmq") {
+    ///             switch (static_cast<fair::mq::ErrorCode>(ec.value())) {
+    ///               case fair::mq::ErrorCode::OperationTimeout:
+    ///                 // async operation timed out
+    ///               case fair::mq::ErrorCode::OperationCanceled:
+    ///                 // async operation canceled
+    ///               case fair::mq::ErrorCode::DeviceChangeStateFailed:
+    ///                 // failed to change state of a fairmq device
+    ///               case fair::mq::ErrorCode::OperationInProgress:
+    ///                 // async operation already in progress
+    ///               default:
+    ///             }
+    ///         }
+    ///     }
+    /// );
+    /// @endcode
+    /// With future:
+    /// @code
+    /// auto fut = topo.AsyncChangeState(fair::mq::sdk::TopologyTransition::InitDevice,
+    ///                                  std::chrono::milliseconds(500),
+    ///                                  asio::use_future);
+    /// try {
+    ///     fair::mq::sdk::TopologyState state = fut.get();
+    ///     // success
+    /// } catch (const std::system_error& ex) {
+    ///     auto ec(ex.code());
+    ///     if (ec.category().name() == "fairmq") {
+    ///         switch (static_cast<fair::mq::ErrorCode>(ec.value())) {
+    ///           case fair::mq::ErrorCode::OperationTimeout:
+    ///             // async operation timed out
+    ///           case fair::mq::ErrorCode::OperationCanceled:
+    ///             // async operation canceled
+    ///           case fair::mq::ErrorCode::DeviceChangeStateFailed:
+    ///             // failed to change state of a fairmq device
+    ///           case fair::mq::ErrorCode::OperationInProgress:
+    ///             // async operation already in progress
+    ///           default:
+    ///         }
+    ///     }
+    /// }
+    /// @endcode
+    /// With coroutine (C++20, see https://en.cppreference.com/w/cpp/language/coroutines):
+    /// @code
+    /// try {
+    ///     fair::mq::sdk::TopologyState state = co_await
+    ///         topo.AsyncChangeState(fair::mq::sdk::TopologyTransition::InitDevice,
+    ///                               std::chrono::milliseconds(500),
+    ///                               asio::use_awaitable);
+    ///     // success
+    /// } catch (const std::system_error& ex) {
+    ///     auto ec(ex.code());
+    ///     if (ec.category().name() == "fairmq") {
+    ///         switch (static_cast<fair::mq::ErrorCode>(ec.value())) {
+    ///           case fair::mq::ErrorCode::OperationTimeout:
+    ///             // async operation timed out
+    ///           case fair::mq::ErrorCode::OperationCanceled:
+    ///             // async operation canceled
+    ///           case fair::mq::ErrorCode::DeviceChangeStateFailed:
+    ///             // failed to change state of a fairmq device
+    ///           case fair::mq::ErrorCode::OperationInProgress:
+    ///             // async operation already in progress
+    ///           default:
+    ///         }
+    ///     }
+    /// }
+    /// @endcode
     template<typename CompletionToken>
     auto AsyncChangeState(TopologyTransition transition,
                           Duration timeout,
@@ -254,7 +329,7 @@ class BasicTopology : public AsioBase<Executor, Allocator>
         return AsyncChangeState(transition, Duration(0), std::move(token));
     }
 
-    /// @brief Initiate state transition on all FairMQ devices in this topology
+    /// @brief Perform state transition on all FairMQ devices in this topology
     /// @param transition FairMQ device state machine transition
     /// @param timeout Timeout in milliseconds, 0 means no timeout
     /// @tparam CompletionToken Asio completion token type
diff --git a/test/sdk/_topology.cxx b/test/sdk/_topology.cxx
index 9a3abbe4..efb55c31 100644
--- a/test/sdk/_topology.cxx
+++ b/test/sdk/_topology.cxx
@@ -8,6 +8,7 @@
 
 #include "Fixtures.h"
 
+#include <asio.hpp>
 #include <DDS/Topology.h>
 #include <DDS/Tools.h>
 #include <fairmq/sdk/Topology.h>
@@ -76,6 +77,54 @@ TEST_F(Topology, AsyncChangeStateWithCustomExecutor)
     mIoContext.run();
 }
 
+TEST_F(Topology, AsyncChangeStateFuture)
+{
+    using namespace fair::mq;
+
+    sdk::Topology topo(mIoContext.get_executor(), mDDSTopo, mDDSSession);
+    auto fut(topo.AsyncChangeState(
+        sdk::TopologyTransition::InitDevice,
+        asio::use_future));
+    std::thread t([&]() { mIoContext.run(); });
+    bool success(false);
+
+    try {
+        sdk::TopologyState state = fut.get();
+        success = true;
+    } catch (const std::system_error& ex) {
+        LOG(error) << ex.what();
+    }
+
+    EXPECT_TRUE(success);
+    t.join();
+}
+
+#if defined(ASIO_HAS_CO_AWAIT)
+TEST_F(Topology, AsyncChangeStateCoroutine)
+{
+    using namespace fair::mq;
+
+    bool success(false);
+    asio::co_spawn(
+        mIoContext.get_executor(),
+        [&]() mutable -> asio::awaitable<void> {
+            auto executor = co_await asio::this_coro::executor;
+            sdk::Topology topo(executor, mDDSTopo, mDDSSession);
+            try {
+                sdk::TopologyState state = co_await topo.AsyncChangeState(
+                    sdk::TopologyTransition::InitDevice, asio::use_awaitable);
+                success = true;
+            } catch (const std::system_error& ex) {
+                LOG(error) << ex.what();
+            }
+        },
+        asio::detached);
+
+    mIoContext.run();
+    EXPECT_TRUE(success);
+}
+#endif
+
 TEST_F(Topology, ChangeState)
 {
     using namespace fair::mq;