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  ______   __   __   __   _      ___     __   __  
 /_   _//  \ \\/ // | || | ||   / _ \\   \ \\/ // 
   | ||     \ ` //  | '--' ||  / //\ \\   \   //  
  _| ||      | ||   | .--. || |  ___  ||  / . \\  
 /__//       |_||   |_|| |_|| |_||  |_|| /_//\_\\ 
 `--`        `-`'   `-`  `-`  `-`   `-`  `-`  --`

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Text this: Consensus method study for a multi-agent system with faults