Scientists conducted research over 10 years to define and measure agility. They identified 6 characteristics of agility, defined a continuum of team structures from command and control to self-organization, and ran experiments matching structures to challenges. Edge and collaborative structures performed best for interconnected environments, interdependent tasks, rare events, and high uncertainty. The research validated a theory of agility and identified inhibitors. It established a scientific basis for developing individual, team, and organizational agility.