Roy Friedman Achour Mostéfaoui Michel Raynal A weakest failure detector-based asynchronous consensus protocol for f<n. 39-46 2004 90 Inf. Process. Lett. 1 http://dx.doi.org/10.1016/j.ipl.2004.01.001 db/journals/ipl/ipl90.html#FriedmanMR04