We present Raft with RAPID, a system that integrates RAPID’s Stable and Consistent Membership Views into the Raft consensus algorithm. We show how this integration simplifies cluster management, leader and log implementation. Our evaluation shows that Raft with RAPID offers comparable performance, striking a practical balance between efficiency and simplicity 

Raft With RAPID - In Search of a Simpler Consensus Algorithm (1).pdf
Raft With RAPID - Creating a Simpler Consensus Algorithm - Presentation Version