Self-adaptive systems requirements modelling: Four related approaches comparison

When developing Self Adaptive Systems (SAS), their highly adaptiveness has to be taken into account as early as the requirements elicitation. Because such systems modify their behaviour at run-time in response to changing environmental conditions, Non Functional Requirements (NFR's) play an important role. One has to identify as early as possible the requirements that are adaptable. Because of the inherent uncertainty in these systems, goal based approaches can help in the development of their requirements. In order to cope with this purpose, we have defined a combined approach based on several requirements modelling techniques. In this paper we use a common case study and well defined comparison criteria to illustrate the way those techniques can benefit from each other. This submission is a synthesis and hence make some reference of more specific requirements models submissions.