  Teleoperation tasks with multi-agent systems have a high potential in
supporting human-swarm collaborative teams in exploration and rescue
operations. However, it requires an intuitive and adaptive control approach to
ensure swarm stability in a cluttered and dynamically shifting environment. We
propose a novel human-swarm interaction system, allowing the user to control
swarm position and formation by either direct hand motion or by trajectory
drawing with a hand gesture interface based on the DNN gesture recognition. The
key technology of the SwarmPaint is the user's ability to perform various tasks
with the swarm without additional devices by switching between interaction
modes. Two types of interaction were proposed and developed to adjust a swarm
behavior: free-form trajectory generation control and shaped formation control.
Two preliminary user studies were conducted to explore user's performance and
subjective experience from human-swarm interaction through the developed
control modes. The experimental results revealed a sufficient accuracy in the
trajectory tracing task (mean error of 5.6 cm by gesture draw and 3.1 cm by
mouse draw with the pattern of dimension 1 m by 1 m) over three evaluated
trajectory patterns and up to 7.3 cm accuracy in targeting task with two target
patterns of 1 m achieved by SwarmPaint interface. Moreover, the participants
evaluated the trajectory drawing interface as more intuitive (12.9 %) and
requiring less effort to utilize (22.7%) than direct shape and position control
by gestures, although its physical workload and failure in performance were
presumed as more significant (by 9.1% and 16.3%, respectively).
