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Service-based business processes are typically used by organizations to achieve business goals through the coordinated execution of a set of activities implemented as services and service compositions. Since they are executed in dynamic, open and non-deterministic environments, business processes often need to be adapted to exogenous context changes and execution problems. In this paper we provide an adaptation approach that can automatically adapt business processes to run-time context changes that impede achievement of a business goal. We define a formal framework that adopts planning techniques to automatically derive necessary adaptation activities on demand. The adaptation consists in identifying recovery activities that guarantee that the execution of a business process can be successfully resumed and, as a consequence, the business goals are achieved. The solution proposed is evaluated on a real-world scenario from the logistics domain.