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
Dissemination State	Time: proportional to sensor readings p, using a sample from an exponential distribution with pg, g = 10 Broadcasting: During the entire phase Listening: Only in the last 3s of the phase	Dissemination strategy: see strategies below Dissemination time: see strategies below Peers: Connect to peers (i.e., to their Ethereum process) if distance is below 50 cm
Exploration State	Time: Sample from an exponential distribution with σ = 10	Time: Sample from an exponential distribution with σ = 10 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

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

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: