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These (re-)configuring, troubleshooting, and in general maintenance tasks lead to costly and time-consuming procedures during the operating phase. These problems are primarily due to the open-loop structure often followed in software development. Therefore, there is a high demand for management complexity reduction, management automation, robustness, and achieving all of the desired quality requirements within a reasonable cost and time range during operation. Self-adaptive software is a response to these demands; it is a closed-loop system with a feedback loop aiming to adjust itself to changes during its operation. These changes may stem from the software system's<jats:italic>self<\/jats:italic>(internal causes, e.g., failure) or<jats:italic>context<\/jats:italic>(external events, e.g., increasing requests from users). Such a system is required to<jats:italic>monitor<\/jats:italic>itself and its context,<jats:italic>detect<\/jats:italic>significant changes,<jats:italic>decide<\/jats:italic>how to react, and<jats:italic>act<\/jats:italic>to execute such decisions. These processes depend on adaptation properties (called self-* properties), domain characteristics (context information or models), and preferences of stakeholders. Noting these requirements, it is widely believed that new models and frameworks are needed to design self-adaptive software. This survey article presents a taxonomy, based on concerns of adaptation, that is,<jats:italic>how<\/jats:italic>,<jats:italic>what<\/jats:italic>,<jats:italic>when<\/jats:italic>and<jats:italic>where<\/jats:italic>, towards providing a unified view of this emerging area. Moreover, as adaptive systems are encountered in many disciplines, it is imperative to learn from the theories and models developed in these other areas. This survey article presents a landscape of research in self-adaptive software by highlighting relevant disciplines and some prominent research projects. 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