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Renesse's design makes this redundant in a latency sense, but maybe still useful for throughput (saves messages).
The basic idea is once a proposer (commander/leader) gets a proposal accepted, it uses the notion of being the only proposer in the system (by design, except in case of failure) and skips the prepare phase, going straight into issuing the next vote. Ignoring disk logging (which varies by approach) this would halve the number of quorums needed (and so halve the latency?).
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