AttentionSwarm: Reinforcement Learning with Attention Control Barier Function for Crazyflie Drones in Dynamic Environments. - Grik Tadevosyan; Valerii Serpiva; Aleksey Fedoseev; Roohan Ahmed Khan; Demetros Aschu; Faryal Batool; Nickolay Efanov; Artem Mikhaylov; Dzmitry Tsetserukou (CoRR, 2025)