Full-Body Haptic Cueing for Augmented Operator Perception in the Control of Drone Swarms

This paper investigates the use of full-body vibrotactile cueing to augment operator perception during swarm teleoperation tasks. Piloted simulations are conducted in a virtual reality (VR) flight simulation environment using a quadcopter swarm model and a nonlinear dynamic inversion (NDI) flight control architecture. A scaled version of the ADS-33 slalom Mission Task Element (MTE) is implemented to evaluate swarm formation maintenance and obstacle avoidance under four experimental conditions: Good Visual Environment (GVE), Degraded Visual Environment (DVE), and each of these conditions augmented with haptic feedback. Haptic cues are delivered through vibrotactile vests and sleeves to convey information on formation deformation and gate proximity. Experimental results involving human participants indicate that haptic feedback improves formation maintenance and increases operators’ situational awareness of follower drone positions without increasing perceived mental workload. While haptic cues provided modest assistance in gate localization, visual conditions remained the dominant factor influencing obstacle avoidance performance. Overall, the results indicate that full-body haptic feedback provides an effective modality for augmenting operator perception and supporting swarm supervision tasks, particularly in visually degraded environments.