  The MAPE-K feedback loop has been established as the primary reference model
for self-adaptive and autonomous systems in domains such as autonomous driving,
robotics, and Cyber-Physical Systems. At the same time, the Human Machine
Teaming (HMT) paradigm is designed to promote partnerships between humans and
autonomous machines. It goes far beyond the degree of collaboration expected in
human-on-the-loop and human-in-the-loop systems and emphasizes interactions,
partnership, and teamwork between humans and machines. However, while MAPE-K
enables fully autonomous behavior, it does not explicitly address the
interactions between humans and machines as intended by HMT. In this paper, we
present the MAPE-K-HMT framework which augments the traditional MAPE-K loop
with support for HMT. We identify critical human-machine teaming factors and
describe the infrastructure needed across the various phases of the MAPE-K loop
in order to effectively support HMT. This includes runtime models that are
constructed and populated dynamically across monitoring, analysis, planning,
and execution phases to support human-machine partnerships. We illustrate
MAPE-K-HMT using examples from an autonomous multi-UAV emergency response
system, and present guidelines for integrating HMT into MAPE-K.
