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Methodol."],"published-print":{"date-parts":[[2026,9,30]]},"abstract":"<jats:p>Self-adaptive robotic systems operate autonomously in dynamic and uncertain environments, requiring robust real-time monitoring and adaptive behaviour. Unlike traditional robotic software with predefined logic, self-adaptive robots leverage artificial intelligence (AI), machine learning and model-driven engineering to adapt to changing conditions continuously, ensuring reliability, safety and optimal performance. This article presents a research agenda for software engineering in self-adaptive robotics, structured along two dimensions. The first concerns the software engineering lifecycle\u2014requirements, design, development, testing and operations\u2014tailored to the challenges of self-adaptive robotics. The second focuses on enabling technologies, i.e., digital twins and AI-driven adaptation, which support runtime monitoring, fault detection and automated decision-making. We identify open challenges, including verifying adaptive behaviours under uncertainty, balancing tradeoffs among adaptability, performance and safety, and integrating self-adaptation frameworks such as MAPE-K\/MAPLE-K. By consolidating these challenges into a roadmap toward 2030, this work contributes to the foundations of trustworthy and efficient self-adaptive robotic systems capable of meeting the complexities of real-world deployment.<\/jats:p>","DOI":"10.1145\/3828754","type":"journal-article","created":{"date-parts":[[2026,8,19]],"date-time":"2026-08-19T08:44:10Z","timestamp":1787129050000},"page":"1-44","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Software Engineering for Self-Adaptive Robotics: A Research\u00a0Agenda"],"prefix":"10.1145","volume":"35","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5212-9787","authenticated-orcid":false,"given":"Hassan","family":"Sartaj","sequence":"first","affiliation":[{"name":"Simula Research Laboratory, Oslo, Norway"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9979-3519","authenticated-orcid":false,"given":"Shaukat","family":"Ali","sequence":"additional","affiliation":[{"name":"Simula Research Laboratory, Oslo, Norway and Oslo Metropolitan University, Oslo, Norway"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0831-1976","authenticated-orcid":false,"given":"Ana","family":"Cavalcanti","sequence":"additional","affiliation":[{"name":"University of York, York, United Kingdom of Great Britain and Northern Ireland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0248-1552","authenticated-orcid":false,"given":"Lukas","family":"Esterle","sequence":"additional","affiliation":[{"name":"Aarhus University, Aarhus, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2692-9742","authenticated-orcid":false,"given":"Cl\u00e1udio","family":"Gomes","sequence":"additional","affiliation":[{"name":"Aarhus University, Aarhus, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4589-1500","authenticated-orcid":false,"given":"Peter Gorm","family":"Larsen","sequence":"additional","affiliation":[{"name":"Aarhus University, Aarhus, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1288-3667","authenticated-orcid":false,"given":"Anastasios","family":"Tefas","sequence":"additional","affiliation":[{"name":"Aristotle University of Thessaloniki, Thessaloniki, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7955-2702","authenticated-orcid":false,"given":"Jim","family":"Woodcock","sequence":"additional","affiliation":[{"name":"Southwest University, Chongqing, China, Aarhus University, Aarhus, Denmark and University of York, York, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0122-0964","authenticated-orcid":false,"given":"Houxiang","family":"Zhang","sequence":"additional","affiliation":[{"name":"Norwegian University of Science and Technology, Trondheim, Norway"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2026,8,21]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISSRE59848.2023.00017"},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00139"},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-sen.2019.0201"},{"key":"e_1_3_1_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICSA-C57050.2023.00038"},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jss.2024.112258"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/MS.2018.2885058"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.3233\/FAIA220194"},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/OJCS.2023.3238324"},{"key":"e_1_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.1145\/3019598"},{"issue":"3","key":"e_1_3_1_11_2","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1007\/s10846-021-01386-2","article-title":"Formally-based model-driven development of collaborative robotic applications","volume":"102","author":"Askarpour M.","year":"2021","unstructured":"M. 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