![]() From Algorithm 1, note that the setpoints returned by the compute_setpoints function are uniquely determined by Z, H and r r−. The details of the digest and the voting phase are explained in Section IV-C. The subset of measurements corresponding to the most- common digest is chosen for computation. Agreement is done in the subsequent voting phase, where replicas exchange a digest of the measurements and the state they have. This optimization is referred to as the collection phase, and involves replicas exchanging measurements and state so as to minimize the missing information in each replica. ![]() Our choice stems from the observation that performing agreement on the input allows for an optimization that increases the probability of a successful agreement. By agreement on H for label r, replicas explicitly agree on the correction factor, r r−. − − The novelty of Quarts is to perform agreement on mea- surements Z and the state H before computation, as opposed to agreement on setpoints done by existing solutions. The collect_and_vote function has two parts, Collection and Voting, described in Section IV-B and IV-C, respectively. ![]() The function returns False in case this replica should not compute for this label. In order to guar- antee consistency, this function performs agreement between the controller replicas and overwrites the set of measurements Z, the state H, and the label of the last setpoint computation r−. Protocol Walkthrough. Quarts is applied to an RTCS by replicating the controller, adding the red part (Algorithm 1 lines 11-13, 15), and imple- menting the collect_and_vote function (Algorithm 2) that itself implements Algorithms 3, 4 and 5. ![]()
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