Energy loads, sources or batteries exchange mathematical models with each other to form clusters of devices that together provide a service (self-reliance, frequency control, etc.) to a grid operator. Models are exchanged before or after forming clusters; a particular model is used to control its own device and is also used by another load/source to influence its control policy. Heuristics and an optimization technique (using models) are used to form a cluster of devices. Exchanging models obviates the need for a central entity to directly control loads/sources, and the need to exchange real-time data between loads/sources, providing resilience against communication failure. A service manager (demand-response aggregator) sends a service or technical constraints to loads/sources to form clusters on their own. Negotiation between manager and clusters occurs to form consensus on a response. Each device in a cluster is controlled by its own control policy which may depend upon the model of another device in the cluster. If communication is lost the clusters continue to implement the service.