  We propose a novel system SwarmCloak for landing of a fleet of four flying
robots on the human arms using light-sensitive landing pads with vibrotactile
feedback. We developed two types of wearable tactile displays with vibromotors
which are activated by the light emitted from the LED array at the bottom of
quadcopters. In a user study, participants were asked to adjust the position of
the arms to land up to two drones, having only visual feedback, only tactile
feedback or visual-tactile feedback. The experiment revealed that when the
number of drones increases, tactile feedback plays a more important role in
accurate landing and operator's convenience. An important finding is that the
best landing performance is achieved with the combination of tactile and visual
feedback. The proposed technology could have a strong impact on the human-swarm
interaction, providing a new level of intuitiveness and engagement into the
swarm deployment just right from the skin surface.
