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. 2020 May 12;7:54. doi: 10.3389/frobt.2020.00054

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Copyright © 2020 Strobel, Castelló Ferrer and Dorigo.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Experiment 1: Random distribution (no Byzantines). lcp (top), w-msr (middle), and the blockchain approach (bottom) perform well if the tiles are randomly distributed and if there are no Byzantine robots. This result serves as a baseline for the following simulations. No correlation between the actual frequency of white tiles and the absolute error (ae_*) is visible. The graphs on the left-hand side show the mean with the error bars indicating the standard deviation. The dashed line in the plots on the right-hand side show the ideal outcome, i.e., when the true % of white tiles equals the estimated % of white tiles.