低空具身智能中的通信-感知-计算：从功能融合到闭环协同

刘鹏; 骆济豪; 王新奕; 费泽松

doi:10.11999/JEIT261177

低空具身智能中的通信-感知-计算：从功能融合到闭环协同

doi: 10.11999/JEIT261177 cstr: 32379.14.JEIT261177

北京理工大学信息与电子学院北京 100081

基金项目: 国家自然科学基金(No. 62471039, No. 62301032)，北京理工大学研究生科研水平和创新能力提升专项计划(No. 2025YCXY015)

详细信息

作者简介:
刘鹏：男，博士生，研究方向为通信感知计算融合、物理层安全等，邮箱[bit_peng_liu@163.com]

骆济豪：男，硕士生，研究方向为通信感知计算融合、具身智能等

王新奕：男，副教授，博士生导师，研究方向为通信感知计算融合、无人机通信等

费泽松：男，教授，博士生导师，研究方向为通信感知计算融合、星地融合通信等，邮箱[feizesong@bit.edu.cn]

通讯作者:
费泽松　feizesong@bit.edu.cn

中图分类号: TN929.5
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- 被引次数: 0
出版历程
- 修回日期: 2026-10-16
- 录用日期: 2026-10-16
- 网络出版日期: 2026-10-22

Communication, Sensing, and Computation in Low-Altitude Embodied Intelligence: From Functional Integration to Closed-Loop Coordination

School of Information and Electronics, Beijing Institute of Technology, Beijing 100081, China

Funds: National Natural Science Foundation of China (No. 62471039, No. 62301032), BIT Research and Innovation Promoting Project (No. 2025YCXY015)

摘要

摘要: 低空具身智能需要持续完成环境感知、信息传输、任务处理、决策生成与控制执行，传统面向单一功能的优化方式难以满足动态场景下的实时闭环需求。该文围绕低空具身任务中的通感算融合展开综述，梳理通信-感知、通信-计算和感知-计算等技术融合的发展脉络，重点总结环境信息获取与协同感知、感知任务卸载与云边端协同计算、通感算多任务资源协同及面向控制反馈的闭环优化方法。分析表明，相关研究正由资源与功能层面的局部融合，逐步向以任务目标为驱动、贯通感知、传输、计算、决策与控制全过程的闭环协同演进。最后，讨论通感算控统一建模、高动态环境实时协同、安全隐私与可信智能以及大规模集群协同等未来方向。
- 低空具身智能 /
- 通信-感知-计算融合 /
- 边缘计算 /
- 闭环协同
Abstract: Significance Low-altitude embodied intelligence is becoming an important technological foundation for intelligent inspection, logistics delivery, security monitoring, emergency rescue, and other low-altitude applications. Unlike conventional unmanned aerial systems that mainly rely on preset routes, remote control, or isolated perception modules, low-altitude embodied agents are required to continuously perceive the surrounding environment, exchange information with other agents and infrastructure, perform task-oriented inference, generate decisions, execute control actions, and update their behaviors according to environmental feedback. Typical application scenarios include urban infrastructure inspection, dynamic target tracking, autonomous logistics delivery, and disaster-response operations (Fig. 1). Such tasks are characterized by open and highly dynamic operating spaces, rapidly varying air-ground channels and network topologies, heterogeneous multimodal sensing data, and strict constraints on onboard payload, energy, computing capability, and storage. Sensing errors, wireless transmission delays, computing latency, and control feedback delays are therefore strongly coupled and may accumulate along the task chain. Optimizing sensing accuracy, communication rate, or computing latency separately cannot guarantee that environmental information is transformed into reliable control actions within the required time. Integrated sensing, communication, and computing (ISCC) provides a promising pathway for coordinating information acquisition, transmission, processing, and decision-making under shared spectrum, power, energy, and computing-resource constraints. Existing surveys mainly discuss network architectures, functional integration, resource management, or intelligent enhancement, whereas the complete autonomous task process of low-altitude embodied intelligence has received less systematic attention. Therefore, this review takes the closed-loop task process as the main thread and examines ISCC from the perspective of the complete perception–transmission–computation–decision–control–feedback chain, with particular attention to task-level metrics such as closed-loop latency, information freshness, task success rate, tracking performance, and control stability. Progress Research on integrated sensing, communication, and computing (ISCC) is evolving from pairwise functional integration toward task-oriented coordination. Communication–sensing integration has progressed from spectrum coexistence to waveform and hardware sharing, bidirectional assistance, multimodal perception, and networked cooperative sensing (Fig. 2). Communication–computation integration has developed from conventional cloud and edge offloading toward joint communication–computing design, over-the-air computation, federated edge learning, and distributed intelligence, reflecting a transition from serial transmission-and-computation processing toward deeper functional integration (Fig. 3). Sensing–computation integration further supports multimodal fusion, state estimation, feature extraction, and task-oriented information selection. These developments collectively provide the technical basis for coordinating perception, transmission, and processing around unified task objectives.For low-altitude embodied intelligence, a cloud–edge–device cooperative architecture can be adopted to support the closed-loop process of environmental perception, information transmission, computation and inference, decision generation, control execution, and state feedback (Fig. 4). Onboard nodes undertake time-critical functions such as local state estimation and emergency response, edge nodes support cooperative perception and latency-sensitive inference, and cloud platforms provide global coordination, model training, and long-term planning. Since control actions continuously change sensing viewpoints, wireless channels, network topology, and computing demands, the different functional modules are dynamically coupled throughout the task process. Meanwhile, the exchanged information is evolving from raw sensing data and complete tasks toward intermediate features, model parameters, and task-relevant semantic information, thereby reducing redundant transmission and processing while preserving information that is useful for perception, inference, and control.Current research can be summarized into four main directions. First, environmental information acquisition is shifting from single-node sensing toward multimodal and multi-agent cooperative perception, where complementary observations from aerial agents, ground infrastructure, and heterogeneous sensors are fused to improve environmental awareness. Second, sensing-task offloading is evolving from coarse-grained migration of complete tasks toward fine-grained cloud–edge–device collaborative inference. Model partitioning and intermediate-feature transmission allow inference workloads to be dynamically distributed according to channel quality, computing load, and task deadlines. Representative results show that joint optimization of deep neural network partitioning, sensing/communication beamforming, and multi-tier computing resources can reduce inference latency by more than 55% compared with local inference under the considered setting (Fig. 5). Third, multidimensional resource coordination jointly considers spectrum, transmit power, beamforming, computing resources, task partitioning, and UAV trajectories. Multi-resource coordination can achieve lower sensing-task completion latency than schemes optimizing only part of the available resources, especially under higher sensing-data compression ratios (Fig. 6). Finally, system optimization is extending toward decision and control feedback, with increasing attention to closed-loop latency, information freshness, tracking error, control stability, task success rate, and energy consumption. Overall, ISCC is gradually moving from resource sharing and functional integration toward task-driven optimization of the complete perception–transmission–computation–decision–control–feedback chain. Conclusions Low-altitude embodied intelligence requires an end-to-end transition from function-oriented integration to task-driven closed-loop coordination. Sensing acquires task-related environmental and agent states; communication exchanges sensing data, cooperative information, intermediate features, and control commands; and computation transforms the acquired information into environmental understanding, task inference, and decision support. Decisions are then converted into control actions that change the physical state of aerial agents and, in turn, reshape the conditions of subsequent sensing, transmission, and computation. Therefore, the essential role of ISCC is not simply to combine three functions or improve their individual efficiencies, but to coordinate the complete closed-loop process according to the final task objective. Task deadlines and control risks should determine sensing-update intervals, information granularity, offloading locations, communication priorities, and computing-resource allocation, while control-induced state variations should be fed back to subsequent sensing modes, link selection, task placement, and resource scheduling. The reviewed studies further indicate that low-altitude ISCC is evolving along three related dimensions: from pairwise integration to multi-functional coordination, from static single-node processing to cloud–edge–device and multi-agent cooperation, and from module-level performance metrics to task-level closed-loop objectives. This evolution provides a technical basis for supporting safer, more autonomous, and more scalable operation of low-altitude embodied agents. Prospects Several challenges remain before large-scale deployment of low-altitude embodied intelligence can be supported. First, unified sensing–communication–computation–control models are required to characterize the propagation and coupling of sensing uncertainty, communication unreliability, computing and inference errors, control feedback delays, and system dynamics within a common framework. Environmental state, information freshness, semantic value, inference accuracy, control cost, and system stability should be jointly represented so that task requirements can be mapped backward to sensing, communication, and computing constraints. Second, real-time coordination under highly dynamic environments remains difficult because aerial mobility, intermittent blockage, interference, changing network topology, and time-varying computing loads can rapidly invalidate static resource allocation. Predictive scheduling, lightweight edge inference, dynamic model partitioning, elastic cloud–edge–device migration, digital twins, and online learning are promising directions for rapid adaptation under incomplete information and resource fluctuations. Third, security, privacy, and trustworthy intelligence need to be incorporated throughout sensing, transmission, inference, and control. Identity authentication, trusted access, privacy-preserving computation, anomaly detection, uncertainty evaluation, interpretable decision-making, and secure control should be jointly considered because attacks on data, models, wireless links, or control commands may directly affect physical safety. Finally, large-scale heterogeneous swarms require scalable hierarchical and distributed coordination. As the number of agents increases, communication overhead, state-space dimension, and decision complexity grow rapidly, while purely centralized solutions face bandwidth bottlenecks, single-point failures, and excessive computational burden. Hierarchical and distributed architectures, graph learning, multi-agent reinforcement learning, swarm intelligence, semantic communication, event-triggered interaction, and knowledge sharing may reduce redundant information exchange and improve self-organization, self-recovery, and task reconfiguration.
- Low-altitude embodied intelligence /
- Integrated sensing, communication, and computing /
- Edge computing /
- Closed-loop coordination

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图 1 低空具身智能典型任务场景

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图 2 通信-感知融合技术演进

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图 3 空中计算技术与传统边缘计算的对比

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图 4 低空具身任务闭环与协同处理架构图

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图 5 云边端协同计算辅助感知任务推理

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图 6 车联网通感算融合系统多资源协同优化

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