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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.