01038nas a2200133   4500008004100000022001400041245006000055210005800115300000700173490000600180520063000186100002300816856006500839       2020                        eng d  a2296-914400aGuiding the Self-Organization of Cyber-Physical Systems0 aGuiding the SelfOrganization of CyberPhysical Systems  a410 v73 aSelf-organization offers a promising approach for designing adaptive systems. Given the inherent complexity of most cyber-physical systems, adaptivity is desired, as predictability is limited. Here I summarize different concepts and approaches that can facilitate self-organization in cyber-physical systems, and thus be exploited for design. Then I mention real-world examples of systems where self-organization has managed to provide solutions that outperform classical approaches, in particular related to urban mobility. Finally, I identify when a centralized, distributed, or self-organizing control is more appropriate.1 aGershenson, Carlos  uhttps://www.frontiersin.org/article/10.3389/frobt.2020.00041