本文研究了异步离散时间多智能体系统的约束共识问题，其中每个智能体在达成共识时都需要位于封闭的凸约束集内。 假定通信图是有向的，不平衡的，动态变化的。 另外，假定它们的并集图在有限长度的某些间隔之间是牢固连接的。 为了处理代理之间的异步通信，可以通过添加新的代理将原始异步系统等效地转换为同步系统。 通过利用凸集上的投影特性，可以估算从新构建的系统中的智能体状态到所有智能体约束集的交集的距离。 基于此估计，通过显示新构建系统的线性部分收敛并且非线性部分随时间消失，证明了原始系统已达成共识。 最后，提供了两个数值示例来说明理论结果的有效性。

编织 Weave是用Java实现的分布式密钥库，并使用基于RAFT的领导者选举的自定义实现来达成共识。 它被设计为快速，可访问且容错的。 Weave旨在促进原始RAFT论文的目标，包括易懂性。 这就是为什么Weave有充分的文档资料并易于扩展。 它还包括一个基于Python的命令行客户端，以测试和分析密钥存储区的状态。 我们创建Weave的三个主要目标之一是设计： 基于云的环境的容错分布式密钥库 需要共识算法的分布式Java应用程序的RAFT的理想实现 分布式环境中的学术共识的分布式环境 Java文档 您可以在阅读Javadoc。 RAFT共识简介 Diego Ongaro和John Osterhout在论文“寻找可理解的共识算法”中引入了RAFT，它是1990年代Leslie Lamport提出的Paxos共识算法的替代方案。 众所周知，原始Paxos论文难以实施，导致各种行业

Distributed Consensus in Multi-vehicle Cooperative

SOFAJ筏 总览 SOFAJRaft是基于一致性算法的生产级高性能Java实现，该算法支持MULTI-RAFT-GROUP用于高负载，低延迟的情况。 使用SOFAJRaft，您可以专注于您的业务领域。 SOFAJRaft应对所有与RAFT相关的技术挑战。 SOFAJRaft非常用户友好，它提供了几个示例，使其易于理解和使用。 产品特点 领导人选举和基于优先级的半确定性领导人选举 日志复制和恢复 只读成员（学习者） 快照和日志压缩 集群成员资格管理，添加节点，删除节点，替换节点等。 用于重新引导，负载平衡场景等的传输领导者的机制 对称的网络分区容限 不对称的网络分区容限 容错，少数故障不会

该程序实现多个有界输入的智能体状态趋于一致；并绘制出多智能体状态图以及一致函数曲线

Wei Ren 专著

Distributed consensus is fundamental to building fault-tolerant systems. It allows a collection of machines to work as a coherent group that can survive the failures of some of its members. Unfortunately, the most common consensus algorithm, Paxos, is widely regarded as difficult to understand and implement correctly. This dissertation presents a new consensus algorithm called Raft, which was designed for understandability.

DB - Just Say NO to Paxos Overhead- Replacing Consensus with Network Ordering.pdf Distributed applications use replication, implemented by protocols like Paxos, to ensure data availability and transparently mask server failures. This paper presents a new approach to achieving replication in the data center without the performance cost of traditional methods. Our work carefully divides replication responsibility between the network and protocol layers.

Raft is a consensus algorithm for managing a replicated log. It produces a result equivalent to (multi-)Paxos, and it is as efficient as Paxos, but its structure is different from Paxos; this makes Raft more understandable than Paxos and also provides a better foundation for building practical systems. In order to enhance understandability, Raft separates the key elements of consensus, such as leader election, log replication, and safety, and it enforces a stronger degree of coherency to reduce t

DB - Paxos vs Raft - Have we reached consensus on distributed consensus.pdf Distributed consensus is a fundamental primitive for constructing fault-tolerant, strongly-consistent distributed systems. Though many distributed consensus algorithms have been proposed, just two dominate production systems: Paxos, the traditional, famously subtle, algorithm; and Raft, a more recent algorithm positioned as a more understandable alternative to Paxos.