From the ZooKeeper FAQ:
Reliability: A single ZooKeeper server (standalone) is essentially a coordinator with no reliability (a single serving node failure
Zookeeper requires that you have a quorum of servers up, where quorum is ceil(N/2). For a 3 server ensemble, that means 2 servers must be up at any time, for a 5 server ensemble, 3 servers need to be up at any time.
ceil(N/2)