Wenxiang Shi Chen Zhao Kailei Tang Junru Sheng Zhiyan Dong Lihua Zhang 0002 Xiaoyang Kang 0001 Kai Cao FlyTransformer: A Cross-Modal Fusion Policy for UAV End-to-End Trajectory Planning. 3501-3506 2023 SMC https://doi.org/10.1109/SMC53992.2023.10393990 conf/smc/2023 db/conf/smc/smc2023.html#ShiZTSDZ0C23