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You can have delegation without hierarchy or authority, if everyone profits from the work equally.
Then the planner and manager of the project are just another specialist. The others trust them to know their shit, just like they trust the mechanics or builders.
If there's a disagreement over what's to be done by whom, this can be resolved in discussion.
Again, this works well if everyone has an equal stake in the success of the project, can freely leave, and isn't just working on it due to threat of homelessness.
Anarchy is something that governs lots of aspects in life today.
For example, the IT team I work in is managed without authority. There is a team leader of course, but he doesn't tell the team what to do at all. We decide that unanimously based on what there is to be done and who is best at which tasks. There is an authoritarian structure around it from the company of course, but our team leader isolates us from it. We document our own working hours, discuss scheduling and vacation days among the team. I've never gotten a "do this" or "you can't take that day off" order from anyone in 2 years.
Again, this works because we are all motivated and aligned with the company's goals (and the working conditions are great due to a strong Union).
Just because the authority isn't used it doesn't mean it isn't present. You can have a hierarchy with authority assigned to higher-ups, and still work in a flat structure a la anarchy on average days. Authority ideally is only utilised when it has to be. In a work environment, for e.g. an IT team, that authority would be used when shit hits the fan and something mission-critical needs fixing and there can be absolutely zero miscommunication, so everyone does their tasks to their best abilities, but the team lead still takes charge.