Goxos was initially implemented to evaluate different failure handling techniques for Paxos State Machines, including Replacement [1] and ARec [2]. The system has later been extended with other Paxos-variations.
[1] L. Jehl, T. E. Lea, and H. Meling. Replacement: The smart way to handle failures in a replicated state machine. In 34rd IEEE International Symposium on Reliable Distributed Systems, SRDS ’15, pages 156–165. IEEE Computer Society, 2015.
[2] L. Jehl and H. Meling. Asynchronous Reconfiguration for Paxos State Machines. In M. Chatterjee, J.-n. Cao, K. Kothapalli, and S. Rajsbaum, editors, Distributed Computing and Networking, volume 8314 of Lecture Notes in Computer Science, pages 119–133. Springer Berlin Heidelberg, 2014.