Parameters and equations in the models are listed in Tables S1 and S2 (Additional file 1). The kinetic parameters and initial concentrations of molecules were determined based on previous studies [24,28,53-56] or arbitrary values. The activation levels of GTPases were defined as the concentrations of the GTP-Rho/Effector complex. Model files are provided as .xml files (Additional files 2 and 3) in the supplementary materials and can be viewed using CellDesigner [50].