The systems and methods disclosed herein orchestrate task execution among autonomous (or semi-autonomous) AI agentic models (“agents”) responsive to a received query by using a hierarchical semantic fingerprinting framework to generate semantic-aware fingerprints for the query and agents. Queries and descriptions of agent capabilities are processed by a series of hierarchical levels using locality-sensitive hash (LSH) functions, where subsequent layers encode more complex semantic information and generate longer hash values. The hash values are aggregated into a semantic fingerprint. A bloom filter cascade uses a series of increasingly accurate hierarchical bloom filters to reject agent fingerprints that differ from the query fingerprint. The remaining agent fingerprints are compared bitwise to the query fingerprint, and those closest to the query fingerprint are selected to generate a routing path for the query. Responses from the selected agents are aggregated into an output that is responsive to the input.