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Teleoperation tasks with multi-agent systems have a high potential insupporting human-swarm collaborative teams in exploration and rescueoperations. However, it requires an intuitive and adaptive control approach toensure swarm stability in a cluttered and dynamically shifting environment. Wepropose a novel human-swarm interaction system, allowing the user to controlswarm position and formation by either direct hand motion or by trajectorydrawing with a hand gesture interface based on the DNN gesture recognition. Thekey technology of the SwarmPaint is the user's ability to perform various taskswith the swarm without additional devices by switching between interactionmodes. Two types of interaction were proposed and developed to adjust a swarmbehavior: free-form trajectory generation control and shaped formation control.Two preliminary user studies were conducted to explore user's performance andsubjective experience from human-swarm interaction through the developedcontrol modes. The experimental results revealed a sufficient accuracy in thetrajectory tracing task (mean error of 5.6 cm by gesture draw and 3.1 cm bymouse draw with the pattern of dimension 1 m by 1 m) over three evaluatedtrajectory patterns and up to 7.3 cm accuracy in targeting task with two targetpatterns of 1 m achieved by SwarmPaint interface. Moreover, the participantsevaluated the trajectory drawing interface as more intuitive (12.9 %) andrequiring less effort to utilize (22.7%) than direct shape and position controlby gestures, although its physical workload and failure in performance werepresumed as more significant (by 9.1% and 16.3%, respectively).

SwarmPaint: Human-Swarm Interaction for Trajectory Generation and Formation Control by DNN-based Gesture Interface