Field Experiment - ScaleX 2016

Start date: 15.07.2016
Funded by: Universität Augsburg
Local scientists: M.Sc. Constantin Wanninger
M.Sc. Oliver Kosak
Publications: Publication list


Multi-agent systems can be a viable choice for realizing self-organizing systems consisting of reconfigurable software components. We present a real-world system consisting of heterogeneous air and ground robots whose behavior and coordination is orchestrated by a MAS in a decentralized manner. The system is able to cooperatively transport largescale measuring equipment and is used for environmental observation, such as in-situ measuring of temperature.


We successfully took part in ScaleX 2016, a geographical measurement campaign, were our system was used to cooperatively carry a fragile fiber optical cable for distant temperature sensing (DTS)

Videos of the experiment

Overview Video: Measuring Temperature by Cooperative Transport of a Digital Temperature Sensing (DTS) Device

More technical explanation of the same measurement flight:

Conceptual Video showing the ScaleX 2016 Experiment in the Robotics API simulation:

First measurement results

The following figure shows the measurements of the DTS system, i.e. the temperature measured along the glass fibre, during a single flight. It is possible to clearly distinguish the measurements before takeoff, during flight and after landing. During flight in roughly 20m height, the temperature decreased by 2-4° compared to ground level.


The figure below shows the measurements of the "cube" module on each quadrocopter. A similar ground-air temperature difference can be observed, although the initial temperature is a few degrees higher. This can be caused by sun radiation which heated up the cube modules.


Hardware used

Quadcopter: rOsewhite Rachel

Ground RobotInnok Heros

SensorsOryx DTS fiber temperature sensing device