Figure 6
From: A blockchain-based information market to incentivise cooperation in swarms of self-interested robots
Relationship between odometry error (indicated as the mean angular drift on the x-axis) and robot’s wealth (indicated as wealth proportion on the y-axis), for swarms of 25 robots after 15 000 timesteps (results of 32 simulations, data reported only for the honest robots subgroup). The two measures are correlated both in case of (A) Byzantine-free swarms and (B) swarms with 5 scaboteurs, with Pearson correlation coefficients of \(-\,0.54\) and \(-\,0.64\) respectively (solid lines with the 95% confidence interval shown as transparent shades).
