Your assertion of self ownership coupled with my recognition of that self ownership in exchange for your recognition of my similar claim to self ownership.
That sounds pretty good. I don’t think that is quite what AE is saying, but this article seems to take a very similar approach. (It’s about IP, but the real meat of it is near the end when he talks about implicit contracts between people engaged in a joint action.) I think you may find Schaefer’s argument interesting.