Figure 3

Box plots of the proportion of wealth of each robot after 15 000 timesteps in experiments with the outlier penalisation payment scheme (128 simulations per condition). We varied the swarm composition (indicated under each panel) in swarms composed of 25 robots. The blue and red boxes show the results for honest and Byzantine robots, respectively (see full description of the box plots in the caption of Fig. 2). In all tested conditions, the blue distribution is significantly higher than the red one (Mann-Whitney U test, p-value < 0.001 in all cases). The outlier penalisation payment scheme penalises more heavily the wealth of Byzantine robots when they are few, however the difference between the blue and red distribution decreases as the number of Byzantine robots increases.