Systems and methods are provided for arbitrating sensor and actuator signals in various devices. One system includes input/output (I/O) circuitry, redundant computation circuits coupled to the I/O circuitry, and an arbitration circuit coupled between the I/O circuitry and the redundant computation circuits. The I/O circuitry is configured to be coupled to multiple non-redundant systems, and the redundant computation circuits are configured to be coupled to one of multiple system buses. One such device is an aircraft including multiple non-redundant systems and a plurality of system buses that are configured to transmit redundant messages to the non-redundant systems. A method includes receiving notice that redundant control signals have been received by multiple computation circuits, determining the health of each computation circuit, selecting a computation circuit from which to receive a control signal based on its health level, and transmitting the control signal from the selected computation circuit to I/O circuitry.