Here's where they are breaking the paradigm.
Ordinarily, we'd think 'self-repairing'.
But DARPA has this in mind (from the OP link)
...a modular vehicle where pieces can fly home to be repaired and replaced and an aircraft that can be serviced and replenished while
remaining on station.
Quite clever. It's both more elegant and less technologically dependent than a 'self-repairing' system.
The only things that really need to be designed is the undocking and docking of the modules.
I could forsee a layer system.
The top layer of a section of a wing would detach and then fly home, leaving the bottom layer, but in small enough of a section so as not to
compromise the airframe.
Then the top repaired layer could return, over fly and settle in and redock.
Then, repaired, with perhaps some additional reinforcement, it would take over the wing function and the lower half would detach at almost the exact
same time as the top re-docked.
That piece would fly home, be repaired, but made into the old style top section, then overfly and repeat. That way it's replacing the top and bottom
layer, but from the top. There'd be no reason to try and dock from underneath, which could be cumbersome.
Since this would be more-or-less constantly happening during a repair cycle, it wouldn't take a lot of time until the repair was complete.
In fact it could be a staggered sequence, landing and detachting like a flock of butterflies. The pieces could be about the same size as a large
monarch butterfly's wing, or bigger, depending on the stability.
The constants would be the weight and the repairs might be minimal, maybe parts of the solar panels.
As the repair continued, any design improvement could be incorporated until at the end of the five years, the craft could even look significantly
different.
It would be like human skin that repairs itself and sloughs off.
In fact the old pieces might not need to fly home, but could just slough as the new components arrived.
Now this is just one way they could do it. They could also have a modular approach, having a whole wing section or strut section replace. There'd
really be no need for a long time gap where a piece was flying around. Most of the time it would be adding a new piece to replace the worn out
module.
Just a thought.