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We study the consensus in different regimes: we vary the quality of the options, the percentage of zealots and the percentage of informed versus uninformed agents. We also consider two decision mechanisms: the voter and majority rule. We study this problem using numerical simulations and mathematical models, and we validate our findings on physical kilobot experiments. We find that (1) if the number of zealots for the lowest quality option is not too high, the decision-making process is driven toward the highest quality option; (2) this effect can be improved increasing the number of informed agents that can counteract the effect of adverse zealots; (3) when the two options have very similar qualities, in order to keep high consensus to the best quality it is necessary to have higher proportions of informed agents.<\/jats:p>","DOI":"10.1007\/s11721-021-00197-3","type":"journal-article","created":{"date-parts":[[2021,11,23]],"date-time":"2021-11-23T02:02:41Z","timestamp":1637632961000},"page":"315-338","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Robot swarm democracy: the importance of informed individuals against zealots"],"prefix":"10.1007","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3284-880X","authenticated-orcid":false,"given":"Giulia De","family":"Masi","sequence":"first","affiliation":[]},{"given":"Judhi","family":"Prasetyo","sequence":"additional","affiliation":[]},{"given":"Raina","family":"Zakir","sequence":"additional","affiliation":[]},{"given":"Nikita","family":"Mankovskii","sequence":"additional","affiliation":[]},{"given":"Eliseo","family":"Ferrante","sequence":"additional","affiliation":[]},{"given":"Elio","family":"Tuci","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,11,23]]},"reference":[{"key":"197_CR1","unstructured":"Albani, D., Manoni, T., Nardi, D. & Trianni, V. 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