Abstract: An elastic cooperative inference architecture and method for UAV cluster can dynamically update the scheduling policy according to the status of each node, and can deal with the failure of some nodes. In addition, the elastic cooperative inference architecture and method can process larger scale complex models on the embedded devices with limited performance carried by UAVs by means of cooperative inference, so as to improve the accuracy of intelligent applications. At the same time, the elastic cooperative inference architecture and method can adaptively update the allocation strategy when some nodes are unavailable or recovered, and improve the survivability of UAV cluster through elastic coordination.