I. Introduction
Reaching agreement to make joint decisions is important for many distributed applications. Especially in recent years, embedded mobile systems are rapidly developing, and more powerful capabilities of them are exploited by building cooperative groups or clusters. Examples of these scenarios are vehicle platooning, unmanned aerial vehicles (UAVs) swarms, cooperative robots, etc. These scenarios have in common that all entities in the group have their own perception of the environment, e.g., through individual sensors. Simultaneously, they are equipped with actuators that can in turn change the environment. So most of the time, such systems need to achieve a joint view about the state of the environment before they take an action. In conclusion, agreement has to be provided as a service for these systems.