  Aerial robots have the potential to play a crucial role in assisting humans
with complex and dangerous tasks. Nevertheless, the future industry demands
innovative solutions to streamline the interaction process between humans and
drones to enable seamless collaboration and efficient co-working. In this
paper, we present a novel tele-immersive framework that promotes cognitive and
physical collaboration between humans and robots through Mixed Reality (MR).
This framework incorporates a novel bi-directional spatial awareness and a
multi-modal virtual-physical interaction approaches. The former seamlessly
integrates the physical and virtual worlds, offering bidirectional egocentric
and exocentric environmental representations. The latter, leveraging the
proposed spatial representation, further enhances the collaboration combining a
robot planning algorithm for obstacle avoidance with a variable admittance
control. This allows users to issue commands based on virtual forces while
maintaining compatibility with the environment map. We validate the proposed
approach by performing several collaborative planning and exploration tasks
involving a drone and an user equipped with a MR headset.
