## 4 Experimental Design
### Experiment Implementation
#### 4.2.3 Communication Behavior
The confidence level reaches averages of 4.05% at a communication range of 30 m, 11.26% at a range of 50 m, and 22.07% at 80 m. The 25% beacon scenario (Figure 5b) shows slightly better results, reaching average values of 9.46%, 24.32%, and 41.89% for each of the communication ranges. As for the 50% beacon scenario (Figure 5c), the confidence levels reached 16.67%, 36.48%, and 54.95% for the 30-, 50-, and 80-m communication ranges, respectively. Results show that the greater the communication ranges of the devices, the greater the confidence levels of the scenarios, as expected. The increment in the confidence level in Figure 5a (10% beacon scenario) is +7.21% when augmenting the range from 30 to 50 m, and +10.81% when going from 50 to 80 m. In a similar manner, the confidence level grows consistently as the number of beacons present in the scenario increases, amounting to +14.86% and +17.57% in Figure 5b (25% beacon scenario), and +19.82% and +18.47% in Figure 5c (50% beacon scenario). If we look at the behavior of each curve across the three confidence scenarios, as more beacon nodes are available, the confidence level also rises. For the 30-m communication range, when going from 10% beacons to 25% beacons (Figure 5a,b, respectively), there is an increase of 5.40% in the confidence level, and of 7.21% when going from 25% beacons to 50% (Figure 5b,c). For the 50-m communication range, the increase in confidence is 13.06% and 12.16% when going from 10% to 25% beacons and from 25% to 50%, respectively. As for the 80-m communication range, the increase amounts to 19.82% and 13.06%. Figure 6 shows the number of nodes that know their position with fitness scores over specific thresholds. Results are shown for scenarios with communication ranges of 30, 50, and 80 m. The curves on each graph represent the number of nodes over a given fitness threshold, for each of the three percentages of beacon nodes (10%, 25%, and 50%). The solid curves are for nodes with fitness scores over 60 (\(T_{>60}\)), and dotted curves are for nodes with fitness scores greater than 0 (\(T_{>0}\)). Figure 5: Average confidence of non-beacon nodes per range, in scenarios with (**a**) 10 beacon nodes, (**b**) 25 beacons, and (**c**) 50 beacons. Figure 6a shows results for the scenario with a communication range of 30 m. The average number of nodes with fitness \(T_{>60}\) is 0.45 nodes when 10% beacons are present, 1.80 for 25% beacons, and 3.60 for 50% beacons. The quantity of \(T_{>0}\) nodes is generally higher, with 10.81, 20.27, and 21.17 nodes on average when 10%, 25%, and 50% beacons are present, respectively. When the communication range is augmented to 50 m (Figure 6b), the average number of nodes over the threshold increases to 4.05, 9.01, and 13.51 \(T_{>60}\) nodes, and 35.59, 37.84, and 48.64 \(T_{>0}\) nodes, for the 10%, 25%, and 50% beacon amounts, respectively. Finally, for the 80-m communication range (Figure 6c), the average node count amounts to 4.95, 19.37, and 27.93 \(T_{>60}\) nodes, and 46.84, 68.47, and 72.07 \(T_{>0}\) nodes for each of the three beacon amounts, respectively. Results show that the number of nodes over both the \(T_{>60}\) and the \(T_{>0}\) fitness thresholds increases as the communication range of the devices is augmented, as expected. This increase is smaller when the threshold is greater (e.g., 60), but more noticeable when the threshold is lower (e.g., 20). When 10% beacon nodes are present in a scenario, there are +1.35 \(T_{>60}\) nodes on average when the communication range is augmented from 30 to 50 m (Figure 6a,b), and +1.80 when going from 50 to 80 m (Figure 6b,c). The \(T_{>0}\) node number behaves in a similar way, with +9.46 and +0.90 nodes when increasing the communication range from 30 to 50 m, and from 50 to 80, respectively.