It is possible. I see at least 2 parts to your question. (It is not going to be HTTP packet. It is a lot more complex than that.)
First off, I believe you might be talking about a concept called decentralized P2P network. The main idea behind a decentralized peer-to-peer network is the fact that nodes conjoint in such a network will not require central server or group of servers.
As you might already know, most common centralized peer-to-peer networks require such centralized system to exchange and maintain interconnectivity among nodes. The basic concept is such, a new node will connect to one of the main servers to retrieve information about other nodes on the network to maintain its connectivity and availability. The central system gets maintained through servers constantly synchronizing network state, relevant information, and central coordination among each other.
Decentralized network, on the other hand, does not have any structure or predetermined core. This peer-to-peer model is also called unstructured P2P networks. Any new node will copy or inherit original links from the “parent” node and will form its own list over time. There are several categories of decentralization of such unstructured networks.
Interestingly enough, the absence of central command and control system makes it solution of choice for modern malware botnets. A great example could be Storm botnet, which employed so-called Passive P2P Monitor (PPM). PPM was able to locate the infected hosts and build peer list regardless whether or not infected hosts are behind a firewall or NAT. Wikipedia’s article Storm botnet is an interesting read. There is also great collaborative study called Towards Complete Node Enumeration in a Peer-to-Peer Botnet, which provides excellent conceptual analysis and techniques employed by Storm botnet network.
Second of all, you might be talking about UDP hole punching. This is a technique or algorithm used to maintain connectivity between 2 hosts behind NATed router/gateway using 3rd comment host by means of a third rendezvous server.
There is a great paper by Bryan Ford, Pyda Srisuresh, and Dan Kegel called Peer-to-Peer Communication Across Network Address Translators.