智 能 无 人 机 集 群 协 同 感 知 计 算 研 究 综 述

With the rapid development of intelligent UAV technology，UAVs have the vast prospects in many fields，such as smart agriculture，post-disaster rescue，and battlefield reconnaissance. However，the limited perceptual and computing capabilities of an individual UAV make it difficult to meet the complex environment and task requirements in practice. Therefore，the efficient collaborative perception and computation of UAV swarms have become the main development direction in the future UAV field. In this paper，we first present the basic concepts of collaborative perception and collaborative computation. For the collaborative perception，we review the latest progress in swarm perceptual data collection and collaborative perception strategy. For the collaborative computation，the optimal schemes of computation task scheduling，resource allocation and data catching are summarized and compared. In addition，we discuss the urgent problems of collaborative perception and computation from the perspective of UAVs. Some potential research directions are presented，providing a reference for the follow-up researchers.