@article {10.3389/frobt.2020.00041,
	title = {Guiding the Self-Organization of Cyber-Physical Systems},
	journal = {Frontiers in Robotics and AI},
	volume = {7},
	year = {2020},
	pages = {41},
	abstract = {Self-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.},
	issn = {2296-9144},
	doi = {10.3389/frobt.2020.00041},
	url = {https://www.frontiersin.org/article/10.3389/frobt.2020.00041},
	author = {Gershenson, Carlos}
}
