A collective autonomic system consists of collaborating autonomic entities which are able to adapt at runtime, adjusting to the state of the environment and incorporating new knowledge into their behavior. These highly dynamic systems are also known as ensembles. To ensure correct behavior of ensembles it is necessary to support their development through appropriate methods and tools which can guarantee that an autonomic system lives up to its intended purpose; this includes respecting important constraints of the environment. This State-of-the-Art Survey addresses the engineering of such...