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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.Index Terms-Human-robot interaction, tactile display, wearable computers ! • All authors are with the

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Figure 1: (a) Human operator lands four drones using landing pads, (b) hand-based landing pad, (c) sensor-vibrator unit. ABSTRACTWe 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. CCS CONCEPTS• Human-computer interaction → Interaction devices.