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Consensus is fundamental for distributed systems since it underpins key functionalities of such systems ranging from distributed information fusion, decision-making, to decentralized control. In order to reach an agreement, existing consensus algorithms require each agent to exchange explicit state information with its neighbors. This leads to the disclosure of private state information, which is undesirable in cases where privacy is of concern. In this paper, we propose a novel approach thatarXiv:1707.04491v4 fatcat:75eavzsodvfmppa36n3yattmzm