A more formal framework would need to be adopted to ensure a peaceful transition to power, especially if the current Emperor dies before naming a heir. The problem is such a structure breeds strife as factions (army, bureacracy, Senate, etc.) fight over who gets the top spot. This actually gives us some hope because it means competent men have the chance to take control over incompetent children of the current reigning Emperor (as what happened when Commodus succeeded his father Marcus Aurelius). Rome was notable that those who took the purple were not always the son of the man who held it before.
Perhaps fixing the system of succession could help. It seems near impossible, but to give Rome the best chance you would need some reform minded emperors not distracted by civil strife throughout the Empire. Fixing these issues would be difficult and would require a major paradigm shift (or assistance from alien space bats) for Classical civilizations. These range from agricultural decline, lack of economic freedom and slavery hampering ingenuity. I have always been a fan of the economic reasons for the collapse of Rome.
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