One way to minimise friction: https://en.wikipedia.org/wiki/Mission_command https://en.wikipedia.org/wiki/Mission_command At each level, the commander specifie

One way to minimise friction: https://en.wikipedia.org/wiki/Mission_command https://en.wikipedia.org/wiki/Mission_command At each level, the commander specifies what is to be accomplished (with maybe some general constraints), but leaves it to the subordinates to determine how best to accomplish their shared objective. Example: at Zorndorf (1758), Frederick the Great had repeatedly commanded von Seydlitz to attack. His last messenger said "the king will have your head if you don't obey this time", and von Seydlitz replied, "please let the king know that my head will be at his disposal after the battle, but during the battle I need it, to use on his behalf."