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The raft consensus algorithm article [1] and the follow up that modifies it slightly with some changes that are useful when implementing it [2]. Both are written very clearly and very focused on actually using the algorithm in practice. Problems that arise when implementing it are discussed and solutions are proposed as well.

[1] https://raft.github.io/raft.pdf

[2] http://openlife.cc/system/files/4-modifications-for-Raft-con...

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