It's a concept thrown around a lot in EA circles, but I was surprised that I couldn't find any papers fleshing the idea out. The most cited link is a blog post from 2009: http://www.overcomingbias.com/2009/01/moral-uncertainty-towards-a-solution.html
I also found these two resources:
http://users.ox.ac.uk/~mert2255/talks/parliamentary-model.pdf
Is there any better exploration of the concept out there?
Here's a preprint (archive).