  To achieve a smooth and safe guiding of a drone formation by a human
operator, we propose a novel interaction strategy for a human-swarm
communication which combines impedance control and vibrotactile feedback. The
presented approach takes into account the human hand velocity and changes the
formation shape and dynamics accordingly using impedance interlinks simulated
between quadrotors, which helps to achieve a natural swarm behavior. Several
tactile patterns representing static and dynamic parameters of the swarm are
proposed. The user feels the state of the swarm at the fingertips and receives
valuable information to improve the controllability of the complex formation. A
user study revealed the patterns with high recognition rates. A flight
experiment demonstrated the possibility to accurately navigate the formation in
a cluttered environment using only tactile feedback. Subjects stated that
tactile sensation allows guiding the drone formation through obstacles and
makes the human-swarm communication more interactive. The proposed technology
can potentially have a strong impact on the human-swarm interaction, providing
a higher level of awareness during the swarm navigation.
