Contents 4.1 Introduction ...............................................................................................74 4.2 Basic Building Block: The Watchdog .........................................................76 4.3 Bayesian Watchdog Approach ....................................................................79 4.4 Collaborative Bayesian Watchdog ..............................................................80 4.5 Local Evaluation through Simulation ........................................................ 84

4.5.1 Detection Speed ..............................................................................86 4.5.2 Accuracy .........................................................................................87 4.5.3 Message Overhead ..........................................................................89