The New York Yankees have avoided arbitration with right-hander David Robertson, agreeing to a one-year, $3.1 million deal with their late-inning reliever, according to Jon Heyman of CBS Sports.

Robertson filed for $3.55 million and the Yankees countered with $2.85 million. The $3.1 million agreement is a bit below the midpoint, closer to the Yankees offer.

Robertson has developed into a dependable late-inning option for the Yankees and manager Joe Girardi. He posted a miniscule 1.08 ERA over 70 appearances in 2011, earning him first crack at replacing Mariano Rivera following his season-ending injury last year.

Robertson converted his first save opportunity, but he allowed four runs on three hits and one walk in only two-thirds of an inning the next day. Less than a week later the right-hander was placed on New York's disabled list with a strained oblique.

Robertson was eventually able to return from injury, and he pitched well for the remainder of the regular season and into the playoffs. Over parts of five seasons at the major league level, the 27-year-old owns a career ERA of 2.95 with 12.0 strikeouts and 4.3 walks per nine innings.