“…The literature provides various approaches to deal with such systems. In particular, self-adaptation is addressed in various ways, ranging from centralized approaches [10,11,14], where one element is in charge and manage the others, to completely decentralised ones [6,12,17], where all elements are peers and the behaviour of the system emerges from the interaction of all the elements, through hierarchical approaches [4,5,15], where the elements are organised into a hierarchy. The great majority of studies on self-adaptive or autonomic systems have been evaluated through simulations or toy examples, without a complete empirical evaluation [18].…”