The coordination of cooperative systems comprising manned and unmanned aircraft represents a key element of future aviation systems. UAVs use AI and advanced control to autonomously perform mission tasks, reducing pilot workload and risk.This talk presents sensor-driven path planning for cooperating UAVs in localizing ground-based radars using ESM sensors. Drones are guided along optimized trajectories to capture radar emissions under geometrically favorable conditions. Bearing measurements are shared via a data link and fused through cross-bearing techniques to estimate radar positions and adapt flight paths in real time. Tight integration between path planning and sensor fusion is essential. Onboard implementation must account for computational constraints and certification requirements, ...