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Software-intensive systems of the future are expected to be highly distributed and to exhibit adaptive and anticipatory behavior when operating in highly dynamic environments and interfacing with the physical world. Therefore, visual modeling techniques to address these software-intensive systems require a mix of models from a multitude of disciplines such as software engineering, control engineering, and business process engineering. As in this concert of techniques software provides the most flexible element, the integration of these different views can be expected to happen in the software. The software thus includes complex information processing capabilities as well as hard real-time coordination between distributed technical systems and computers. In this article, we identify a number of general requirements for the visual model-driven specification of next generation software-intensive systems. As business process engineering and software engineering are well integrated areas and in order to keep this survey focused, we restrict our attention here to approaches for the visual model-driven development of adaptable software-intensive systems where the integration of software engineering with control engineering concepts and safety issues are important. In this survey, we identify requirements and use them to classify and characterize a number of approaches that can be employed for the development of the considered class of software-intensive systems.