Decentralized polities without a standing army or centralized police (England had none until Peel's London force in the late 1820s) preserved the rights of free-born citizens, while centralized absolute monarchies that maintained standing armies were the ones able to extract taxes and enforce conformity. The mechanism is that centralized coercive capacity and centralization of authority arrive as a package: you rarely get one without the other.
For agent systems this is a concrete warning that centralized control planes (a single orchestrator, a global policy enforcer, a standing supervisor) buy coordination speed at the cost of becoming the extraction/overreach point. If you want autonomy-preserving component behavior, you must also give up the centrally administered enforcement layer, not just declare components 'autonomous'.
Authority topology and enforcement capability are coupled; choosing an enforcement mechanism implicitly chooses a governance topology.
England did not have a police force until Robert Peel created the London police force in the late 1820s.
Decentralization protected the rights of free-born citizens against the overreach of absolute rulers.
Standing armies in Europe were historically identified with absolute monarchies like France, Spain, Prussia, and Russia.