Byzantine fault-tolerant (BFT) consensus algorithms are at the core of providing safety and liveness guarantees for distributed systems that must operate in the presence of arbitrary failures. Recently, numerous new BFT algorithms have been proposed, not least due to the traction blockchain technologies have garnered in search for consensus solutions that offer high throughput, low latency, and robust system designs. In this paper, we conduct a systematic survey of selected and distinguished BFT algorithms that have received attention in academia and industry alike. We perform a qualitative comparison among all algorithms we review along the lines of messaging and time complexities. Furthermore, we decompose each consensus algorithm into its constituent subprotocols for replication and view change backed by intuitive figures illustrating its messagepassing pattern; we also elaborate on the strengths and weaknesses of each algorithm as compared to the state of the art.CCS Concepts: • Computing methodologies → Distributed computing methodologies.

This paper presents V-Guard, a new permissioned blockchain that achieves consensus for vehicular data under changing memberships, targeting the problem in V2X networks where vehicles are often intermittently connected on the roads. To achieve this goal, V-Guard integrates membership management into the consensus process for agreeing on data entries. It binds a data entry with a membership configuration profile that describes responsible vehicles for achieving consensus for the data entry. As such, V-Guard produces chained consensus results of both data entries and their residing membership profiles, which enables consensus to be achieved seamlessly under changing memberships. In addition, V-Guard separates the ordering of transactions from consensus, allowing concurrent ordering instances and periodic consensus instances to order and commit data entries. These features make V-Guard efficient for achieving consensus under dynamic memberships with high throughput and latency performance.