Lior Davidovitch Shlomi Dolev Sergio Rajsbaum Stability of Multi-Valued Continuous Consensus. 23-38 2009 230 Electr. Notes Theor. Comput. Sci. http://dx.doi.org/10.1016/j.entcs.2009.02.015 db/journals/entcs/entcs230.html#DavidovitchDR09