@article{sagaarobustselfattentionandgoalawareanch,
  title = {SAGA: A Robust Self-Attention and Goal-Aware Anchor-based Planner for Safe UAV Autonomous Navigation},
  author = {Junhao Wei and Yanxiao Li and Dexing Yao and Yifu Zhao and Haochen Li and Qibin He and Baili Lu and Xiaofan Zou and Dingcheng Yang and Sio-Kei Im and Yapeng Wang and Xu Yang},
  year = {2026},
  eprint = {2605.02301},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.02301},
}