This framing of coordinated action is why lolbertarians will never be short of theft to complain about. Remedying the theft would require something akin to "the political process."
Discussion
I'm not a Libertarian.
And you misunderstand what "voluntary" and "consent" mean, I think.
Pic related. 
This made me laugh.
..but reqlly it's actually not that complicated... Private property + voluntary contracts.