1. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Interplay among social structuring, size of agent population, task complexity, and system performance Figure Legend:

2. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Hypothetical system complexity over order–disorder spectrum (adapted from Huberman and Hogg [39]) Figure Legend:

3. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Box-moving task used in case studies Figure Legend:

4. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Possible conflicts of agents i and j and box neighborhood: (a) moving force conflict, (b) rotation torque conflict, and (c) box neighborhood Figure Legend:

5. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Experiment design with three-independent variables and three-dependent variables Figure Legend:

6. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Screenshots of a typical simulation run for the with wall task Figure Legend:

7. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Total effort comparison for various social rule adoption policies for the with wall task with varying number of agents Figure Legend:

8. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Time duration comparison for various social rule adoption policies for the with wall task with varying number of agents Figure Legend:

9. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Social complexity during the process of moving the box toward the goal with SRBR strategy and 12 agents Figure Legend:

10. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Success rate comparison for various social rule adoption policies for the with wall + one obstacle task with varying number of agents Figure Legend:

11. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Total effort comparison for various social rule adoption policies for the with wall + one obstacle task with varying number of agents Figure Legend:

12. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Duration time comparison for various social rule adoption policies for the with wall + one obstacle task with varying number of agents Figure Legend:

13. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Success rate comparison for various social rule adoption policies for the with wall + two obstacles task with varying number of agents Figure Legend:

14. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Total effort comparison for various social rule adoption policies for the with wall + two obstacles task with varying number of agents Figure Legend:

15. Date of download: 6/2/2016 Copyright © ASME. All rights reserved. From: Effect of Social Structuring in Self-Organizing Systems J. Mech. Des. 2016;138(4):041101-041101-11. doi:10.1115/1.4032265 Duration time comparison for various social rule adoption policies for the with wall + two obstacles task with varying number of agents Figure Legend: