# Multi-UAV Trajectory Optimization for Bearing-Only Localization in GPS Denied Environments

arXiv: https://arxiv.org/abs/2602.11116 · HTML: https://mlsanity.com/paper/2602.11116/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Feb 2026.

## Built on by (most cited first, 1 of 1)

- [Trajectory Optimization in Single and Dual-UAV Bearing-Only Target Localization](https://mlsanity.com/paper/2606.09188/) (2026)

## Abstract (arXiv)

Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors are typically used to localize targets, however, reliance on these sensors increases mechanical complexity, cost, and susceptibility to single-point failures, limiting scalability and robustness in multi-UAV operations. This work presents a new trajectory optimization framework that enables cooperative target localization using UAVs with fixed, non-gimballed cameras operating in coordination with a surface vessel. This estimation-aware optimization generates dynamically feasible trajectories that explicitly account for mission constraints, platform dynamics, and out-of-frame events. Estimation-aware trajectories outperform heuristic paths by reducing localization error by more than a factor of two, motivating their use in cooperative operations. Results further demonstrate that coordinated UAVs with fixed, non-gimballed cameras achieve localization accuracy that meets or exceeds that of single gimballed systems, while substantially lowering system complexity and cost, enabling scalability, and enhancing mission resilience.