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adaptive control 1fault tolerance 1graph-based architecture 1monitor-analyze-plan-execute 1robotics 1

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eess.SY2026

System-Self as a Data Structure: An Architectural Approach to Bounded Adaptation

Erwin Franz, Alhassan S. Yasin, Yasin Alhassan

The paper proposes a graph‑based representation of a system’s architecture that is used during operation to jointly adapt structural configurations and controller parameters, demon…