Adaptive control systems 4 Adaptive systems 4 Controller synthesis 4 Controllers 4 Graceful degradation 4 Progressive enhancement Software engineering 4 Architecture models 2 Behaviour models 2 Control theory 2 Environment models 2 Level model 2 Logic-based approach 2 Multi-tier 2 Operational strategies 2 Planning 2 Reliability 2 Risk perception 2 Robots 2 Self-adaptive system 2 Self-adaptive systems 2 Simplifying assumptions 2 Unpredictable environments 2 controller synthesis 2 planning 2 reliability 2