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\paragraph{Acknowledgments} Both Zo\'{e} Christoff and Davide Grossi acknowledge support for this research by EPSRC (grant EP/M015815/1, ``Foundations of Opinion Formation in Autonomous Systems'').  \paragraph{Contact information}  \begin{contact} %\begin{contact}  Zo\'{e} Christoff\\  Department of Computer Science\\  University of Liverpool\\  Liverpool, United Kingdom\\  %\url{[email protected]}  \end{contact} \url{[email protected]}  %\end{contact}  \begin{contact} %\begin{contact}  Davide Grossi\\  Department of Computer Science\\  University of Liverpool\\  Liverpool, United Kingdom\\  %\url{[email protected]}  \end{contact} \url{[email protected]}  %\end{contact}