Problem

"How to transfer the sensors readings (quality of the opinion) into a secure dissemination strategy that is similar to the existing approach?"

Comparison

Feature	Classical approach	Blockchain approach
Number of used opinions for voting strategy	Last 2 opinions in robot's memory	Last 2 opinions in robot's blockchain
Time	proportional to sensor readings p, using a sample from an exponential distribution with pg, g = 10	see strategies below
Broadcasting	During the entire phase	During the entire phase
Listening	Only in the last 3s of the phase	Figure out
Peers	Send opinions to peers if distance is below 50 cm	Connect to peers (i.e., to their Ethereum process) if distance is below 50 cm
Decision-making strategy:	DC, DMMD, DMVD	see strategies below

Time Peers

Sample from an exponential distribution with σ = 10

Not connected to any peers

Not connected to any peers}

Send a transaction with 1 ether in each timestep of the dissemination state
Expected behavior: The stronger the opinion, the more transactions will be sent; therefore it is more likely that one of these transactions belong to the last two in the blockchain
Disadvantage: Is this strategy close enough (amount of votes vs. time of dissemination) to the other approach?

Send one transaction each time a robot enters the dissemination state, include amount of ether that is proportional to the quality of the opinion
Expected behavior: Should be very similar to the non-secure version; the last two votes in the blockchain
Disadvantage: None. Should be directly comparable to the DC strategy.

Make dissemination time proportional to the quality of the opinion (i.e., exactly the same as in the non-secure approach)
Expected behavior: The longer a robot disseminates its opinion, the more likely it is that the transaction gets included in the blockchain (more robots receive the transaction -> more hash power).
Open questions: When to start the mining process? Does it make sense? Is it a secure approach (i.e., how robust is it to attacks)?

Robots have to solve a (hash-based) puzzle, whose difficulty is proportional to the quality of the opinion they want to send
Expected behavior:

Only connect to neighbors in the dissemination state
The longer a robot is in the state, the more other robots will receive its opinion
Problem: When do robots mine? Only in the last x seconds (fixed)? Or for a time proportional to their opinion?
Expected behavior: