Abstract
Along with the traditional requirements, requirements engineering for autonomous and self-adaptive systems needs to address requirements related to adaptation issues, in particular: (1) what adaptations are possible; (2) under what constrains; and (3) how those adaptations are realized. Note that adaptations arise when a system needs to cope with changes to ensure realization of the system's objectives. The autonomy requirements engineering approach converts adaptation issues into autonomy features where goal-oriented requirements engineering is used along with a model for generic autonomy requirements. The approach is intended to help engineers develop missions for unmanned exploration, often with limited or no human control.
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