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The group formation algorithm deals with message loss
by allowing every state in the finite state machine to time
out while having a minimal effect on other nodes. For ex-
ample, if a master node does not hear back from enough
neighbors, it will time out (shown as TO in Figure 2) and
transition back into the Need Group state. Nodes that had
responded to the master cannot respond to any other master
until they hear back from the current one. If they never hear
back, they time out and go back to the Need Group state.
The algorithm adds some...
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