Realization of Adaptive System Transitions in Self-Adaptive Autonomous Robots.

The emergence of modern, distributed cyber-physical systems (CPSs), e. g., robotics systems, have opened new lines and directions of research in academia. To meet the demand for an increased system autonomy these CPSs need to continuously adapt to the dynamic environment or context in which they operate. As a result, there is the necessity to design systems that self-adapt and optimize their system state autonomously in response to different run-time context changes. However, making a decision on the optimal adaptation in a changing context is a complex task. In response, in this paper, we proposing a modular analysis and planning approach, which generates the optimal adaptations based on individual sub-decisions. Each sub-decision corresponds to an adaptation module which focuses on a specific parts of the context.