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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?"


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

Peers: Send opinions to peers if distance is below 50 cm

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


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