An unmanned aerial vehicle (UAV) (200, 300, 400, 700, 800, 1000, 1200, 1500) can include a central body (202, 302, 402, 702, 802, 1002, 1202, 1502), a plurality of rotors, and a plurality of arms (204, 306, 406, 706, 806, 1006, 1206, 1506) extending from the central body (202, 302, 402, 702, 802, 1002, 1202, 1502), where each arm of the plurality of arms (204, 306, 406, 706, 806, 1006, 1206, 1506) is configured to support one or more of the plurality of rotors. The UAV may include at least one sensor (208, 318, 418, 718, 818, 822, 1022, 1218, 1222, 1518) located on the UAV (200, 300, 400, 700, 800, 1000, 1200, 1500) outside of a keep-out zone, where the keep-out zone is defined at least in part by (1) a plurality of rotor disks, a rotor disk of the plurality of rotor disks for each of the plurality of rotors, each rotor disk corresponding to an area that is swept by one or more rotor blades (206, 308, 408, 708, 808, 1008, 1208, 1508) of a corresponding rotor when the rotor blades (206, 308, 408, 708, 808, 1008, 1208, 1508) are spun, and (2) a shape that is formed by adjoining respective centers of adjacent rotor disks.