The complexity of current software systems, evolution of their requirements and uncertainty in their environments has led the software engineering community to look for inspiration in diverse related fields (e.g., robotics, artificial intelligence, control theory, and biology) for new ways to design and manage complex systems and their evolution. In this endeavor, the capability of the system to adjust its behavior in response to changes in the system itself, the requirements, or the environment in the form of self-adaptation has become one of the most promising directions (cf....