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



Broadcasting Listening Peers Decision-making strategy:


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
During the entire phase During the entire phase
Only in the last 3s of the phase Figure out
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
DC, DMMD, DMVD see strategies below
Time Peers
Sample from an exponential distribution with σ = 10 Sample from an exponential distribution with σ = 10
Not connected to any peers Not connected to any peers}


Strategy 1: Amount of transactions

  • 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?

Strategy 2: Direct modulation

  • 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.

Strategy 3: Dissemination time

  • 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)?

Strategy 4: Hash-puzzle

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

Strategy 5: Most similar

  • 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:


  • Use an alternative approach that is not similar to Gabri's approach
  • Expected behavior:
  • Advantages: Can tailor approach to the blockchain
  • Disadvantages: Might be harder to compare the approach and show its advantages