Germans figured this out a long time ago with their "Auftragstaktik". In a scenario of asymmetrical warfare, you don't wanna be rigid and stringent with command control, you have to allow capable and independent teams to carry out specific missions and then review their performance afterwards and I don't see any prob extending or porting this to the business domain and to startups in particular.
I'm strongly in favor of giving up centralized control in the interests of allowing emergent behavior to tackle opportunities as fast as possible. Leadership to me should be:
* Set the direction
* Gather smart, motivated people
* Create an environment that gets everyone on the same page
* Get the fuck out of their way.