I like to think of Telehash as the answer for p2p routing. It's powerful and there's working implementations.

The other piece of the puzzle is REST in the UDP context, for that, CoAP looks really well put together: http://tools.ietf.org/html/draft-ietf-core-coap-10

I have a weekend project going to blend the two and make magic, but I haven't put enough time into it yet.