  Since the inception of Bitcoin, cryptocurrencies and the underlying
blockchain technology have attracted an increasing interest from both academia
and industry. Among various core components, consensus protocol is the defining
technology behind the security and performance of blockchain. From incremental
modifications of Nakamoto consensus protocol to innovative alternative
consensus mechanisms, many consensus protocols have been proposed to improve
the performance of the blockchain network itself or to accommodate other
specific application needs.
  In this survey, we present a comprehensive review and analysis on the
state-of-the-art blockchain consensus protocols. To facilitate the discussion
of our analysis, we first introduce the key definitions and relevant results in
the classic theory of fault tolerance which help to lay the foundation for
further discussion. We identify five core components of a blockchain consensus
protocol, namely, block proposal, block validation, information propagation,
block finalization, and incentive mechanism. A wide spectrum of blockchain
consensus protocols are then carefully reviewed accompanied by algorithmic
abstractions and vulnerability analyses. The surveyed consensus protocols are
analyzed using the five-component framework and compared with respect to
different performance metrics. These analyses and comparisons provide us new
insights in the fundamental differences of various proposals in terms of their
suitable application scenarios, key assumptions, expected fault tolerance,
scalability, drawbacks and trade-offs. We believe this survey will provide
blockchain developers and researchers a comprehensive view on the
state-of-the-art consensus protocols and facilitate the process of designing
future protocols.
