Nuno Santos André Schiper Tuning Paxos for High-Throughput with Batching and Pipelining. 153-167 2012 ICDCN https://doi.org/10.1007/978-3-642-25959-3_11 conf/icdcn/2012 db/conf/icdcn/icdcn2012.html#SantosS12