I have a similar symptom; doing

  sudo iwlist wlan0 scan

after resume tickles NetworkManager into seeing there's wifi available
which it then connects to.

I did not test switching back to Upstart, however I am using 
xfce4-power-manager as mentioned in Comment 7.
If I close the lid, wifi does not work on resume, however if I do:

  pkexec xfce4-pm-helper --suspend

wifi is correctly restored on resume.

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https://bugs.launchpad.net/bugs/1448555

Title:
  network-manager does not autoconnect to wifi network after resume from
  suspend

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