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Allowing for self-adaptation in technical systems is intended to tackle the ever-increasing complexity resulting from the open, interconnected, and mobile characteristics of information and communication technology. Typically, self-adaptation is established by means of a feedback loop concept, e.g., in terms of the monitor-analyse-plan-execute (-knowledge) loop as known from the Autonomic Computing domain that acts on top of the productive part of a technical system. Two of the major parts of this loop are related to actually steering the behaviour of the productive part: planning what to do and executing this plan. In this paper, we present a novel concept for multi-objective optimisation-based planning of adaptations in autonomous selfadaptive systems. We focus on a subset of self-adaptive systems that deal with resource coordination problems and highlight issues between central planning and decentral …