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Wow! I thought I lost this issue forever but Jonathan's comment fired off an email which led me back here where I really wanted to share this anecdote. I don't have too many results yet as my organization's usage of CI hasn't grown tremendously yet but I noticed that there wasn't a ClientAliveInterval setting set in the /etc/sshd_config (or something like that) on our Ubuntu slaves. I don't know what the Java SSH client's settings are either. Anyway, once I set that to something very small on our slave images, our slaves have been staying connected. No dangling either. And they've been terminated correctly as well.
Surely you guys have bit more hardcore setups so I'm eager to hear if that actually works for anybody else.