# C2Flight：用于异构UAV计算系统早期评估的闭环协同仿真框架

> 原文链接：https://robotics.hellobike.com/papers/2026-10-10-2610-14715
> 频道：papers | 更新日期：2026-10-10 | 标签：arxiv, cs.RO
> 核心摘要：C2Flight用参数化数据流图和统一节点接口联仿异构UAV计算系统，并在机载与无线离板流水线上验证。

# C2Flight：用于异构UAV计算系统早期评估的闭环协同仿真框架

::: v-pre
> 原文链接：[C2Flight: A Closed-Loop Co-Simulation Framework for Early-Stage Evaluation of Heterogeneous UAV Computing Systems](https://arxiv.org/abs/2610.14715)（arXiv 2610.14715 · 发布日期：2026-10-10）

**C2Flight: A Closed-Loop Co-Simulation Framework for Early-Stage Evaluation of Heterogeneous UAV Computing Systems**

C2Flight用参数化数据流图和统一节点接口联仿异构UAV计算系统，并在机载与无线离板流水线上验证。

## 核心要点

- 设计选择经机器人反馈环相互作用，单独组件指标难预测任务表现。
- 框架以参数化数据流图表示目标系统，统一接入设计中硬件与物理硬件。
- 图运行时刻画缓冲、激活、资源共享、通信和本地时序的综合影响。
- 验证确认时序保真和闭环预测准确性，案例探索部署与加速器位宽取舍。

**验证范围与局限**：验证范围为机载和无线离板物理计算流水线，以及两个部署和加速器位宽选择案例。

## 英文摘要 (Abstract)

Early-stage design of heterogeneous UAV computing systems requires evaluating how algorithm, hardware, communication, and system topology affect closed-loop flight before the complete system is available. However, design choices interact through the robotic feedback loop, making task performance difficult to predict from isolated component metrics, while existing execution-driven approaches postpone system-level design feedback until the computing system is integrated. This work presents C2Flight, a closed-loop co-simulation framework that represents target systems as parameterized dataflow graphs and integrates models of hardware under design with independently accessible physical hardware through a unified node interface. Its graph runtime captures the combined effects of buffering, activation, resource sharing, communication, and local timing on closed-loop flight behavior. Validation against onboard and wireless offboard physical computing pipelines confirms its timing fidelity and closed-loop prediction accuracy. Two case studies demonstrate early-stage exploration of deployment and accelerator bit-width choices. These results show that C2Flight exposes system-level design trade-offs before full-system integration, enabling rapid early-stage design refinement.

作者：Xizhu Chen, Shuyuan Zhang, Yixuan Li, Huazhong Yang, Yu Wang, Jincheng Yu, Hongyang Jia
:::

## 原始参考来源 (Sources)

- [arXiv 2610.14715：C2Flight: A Closed-Loop Co-Simulation Framework for Early-Stage Evaluation of Heterogeneous UAV Computing Systems](https://arxiv.org/abs/2610.14715)