Negotiated settlements IMHO can't be done via Robert's and probably can't be done on-line. State power can certainly create an environment where the result is not negotiated, but rather decided and imposed. Personally I think state power is like slavery - a solution that seems appropriate only so long as people lack the resources to understand and employ a less coercive method. First, real legislatures involve far more stuff than is captured in Robert's or by voting. Second, there are numerous other modes of decision-making.
Common law is a good one.
Built on the stories of real cases. A very popular alternative nowadays to litigation is mediation. There is a lot of mediation literature. Another is Arbitration. Another is all around us - the market system.