Self-organising multi-agent systems provide a suitable paradigm for developing autonomic computing systems that manage themselves. Towards this goal, we demonstrate a robust, decentralised approach for structural adaptation in explicitly modelled problem solving agent organisations. Based on self-organisation principles, our method enables the autonomous agents to modify their structural relations to achieve a better allocation of tasks in a simulated task-solving environment. Specifically, the agents reason about when and how to adapt using only their history of interactions as guidance. We empirically show that, in a wide range of closed, open, static and dynamic scenarios, the performance of organisations using our method is close (70-90%) to that of an idealised centralised allocation method and is considerably better (10-60%) than the current state of the art decentralised approaches.