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We propose a novel system SwarmCloak for landing of a fleet of four flyingrobots on the human arms using light-sensitive landing pads with vibrotactilefeedback. We developed two types of wearable tactile displays with vibromotorswhich are activated by the light emitted from the LED array at the bottom ofquadcopters. In a user study, participants were asked to adjust the position ofthe arms to land up to two drones, having only visual feedback, only tactilefeedback or visual-tactile feedback. The experiment revealed that when thenumber of drones increases, tactile feedback plays a more important role inaccurate landing and operator's convenience. An important finding is that thebest landing performance is achieved with the combination of tactile and visualfeedback. The proposed technology could have a strong impact on the human-swarminteraction, providing a new level of intuitiveness and engagement into theswarm deployment just right from the skin surface.

SwarmCloak: Landing of a Swarm of Nano-Quadrotors on Human Arms