The ability of self-adaptive software in responding to change is determined by contextual requirements, i.e. a requirement in capturing relevant context-atributes and modeling behavior for system adaptation. However, in most cases, modeling for self-adaptive software is does not take into consider the requirements evolution based on contextual requirements. This paper introduces an approach through requirements modeling languages directed to adaptation patterns to support requirements evolution. The model is prepared through contextual requirements approach that is integrated into MAPE-K (monitor, anayze, plan, execute - knowledge) patterns in goal-oriented requirements engineering. As an evaluation, the adaptation process is modeled for cleaner robot. The experimental results show that the requirements modeling process has been able to direct software into self-adaptive capability and meet the requirements evolution.
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