The principal of subsidiarity comes to mind.  Concentrate power and decision-making at the lowest possible level.  Then the authority with competence to solve a problem is also the one most in touch with the people and circumstances involved.

This also addresses the communication problem, because it keeps the chains of communication short and the networks small in most cases.  For larger issues, subsidiary agents can communicate to solve problems, creating a "network of networks."

It seems to resemble the biological systems you write about. 

 yes!