  We propose a novel human-swarm interaction system, allowing the user to
directly control a swarm of drones in a complex environment through trajectory
drawing with a hand gesture interface based on the DNN-based gesture
recognition. The developed CV-based system allows the user to control the swarm
behavior without additional devices through human gestures and motions in
real-time, providing convenient tools to change the swarm's shape and
formation. The two types of interaction were proposed and implemented to adjust
the swarm hierarchy: trajectory drawing and free-form trajectory generation
control. The experimental results revealed a high accuracy of the gesture
recognition system (99.75%), allowing the user to achieve relatively high
precision of the trajectory drawing (mean error of 5.6 cm in comparison to 3.1
cm by mouse drawing) over the three evaluated trajectory patterns. The proposed
system can be potentially applied in complex environment exploration, spray
painting using drones, and interactive drone shows, allowing users to create
their own art objects by drone swarms.
