Y. Liu and G. Nejat, Robotic urban search and rescue: A survey from the control perspective, Journal of Intelligent & Robotic Systems, vol.72, issue.2, pp.147-165, 2013.

J. Casper and R. R. Murphy, Human-robot interactions during the robotassisted urban search and rescue response at the world trade center, IEEE Trans. Systems, Man, and Cybernetics, vol.33, issue.3, pp.367-385, 2003.

L. Marconi, C. Melchiorri, M. Beetz, D. Pangercic, R. Siegwart et al., The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments, Proc. IEEE Int. Symp. on Safety, Security, and Rescue Robotics (SSRR), pp.1-4, 2012.

P. Giordano, A. Franchi, C. Secchi, and H. H. Bülthoff, A passivity-based decentralized strategy for generalized connectivity maintenance, The International Journal of Robotics Research, vol.32, issue.3, pp.299-323, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00910385

C. Secchi, A. Franchi, H. H. Bülthoff, and P. Giordano, Bilateral Control of the Degree of Connectivity in Multiple Mobilerobot Teleoperation, IEEE ICRA, pp.3645-3652, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00910833

M. Silvagni, A. Tonoli, E. Zenerino, and M. Chiaberge, Multipurpose uav for search and rescue operations in mountain avalanche events, Geomatics, Natural Hazards and Risk, vol.8, issue.1, pp.18-33, 2017.

B. Custers, Future of Drone Use, 2016.

W. S. Ng and E. Sharlin, Collocated interaction with flying robots, IEEE Int. Symp. on Robots and Human Interactive Communications, pp.143-149, 2011.

A. Sanna, F. Lamberti, G. Paravati, and F. Manuri, A Kinect-based natural interface for quadrotor control, Entertainment Computing, vol.4, issue.3, pp.179-186, 2013.

K. Pfeil, S. L. Koh, and J. Laviola, Exploring 3D gesture metaphors for interaction with unmanned aerial vehicles, Proc. Intl. Conf. Intelligent User Interfaces, pp.257-266, 2013.

J. P. Hansen, A. Alapetite, I. S. Mackenzie, and E. Møllenbach, The use of gaze to control drones, Proc. ACM Symp. on Eye Tracking Research and Applications, pp.27-34, 2014.

Y. Yu, D. He, W. Hua, S. Li, Y. Qi et al., FlyingBuddy2: a brain-controlled assistant for the handicapped, Int. Conf. on Ubiquitous Computing, pp.669-670, 2012.

C. Rognon, S. Mintchev, F. Dell'agnola, A. Cherpillod, D. Atienza et al., Flyjacket: An upper body soft exoskeleton for immersive drone control, IEEE Robotics and Automation Letters, vol.3, issue.3, pp.2362-2369, 2018.

S. A. Somniacs and . Birdly, , 2019.

&. Hypersuit and . Hypersuit, , 2019.

L. A. Sandru, M. F. Crainic, D. Savu, C. Moldovan, V. Dolga et al., Automatic Control of a Quadcopter, AR. Drone, Using a Smart Glove, Proc. Int. Conf. on Control, Mechatronics and Automation, pp.92-98, 2016.

A. Sarkar, K. A. Patel, R. G. Ram, and G. K. Capoor, Gesture control of drone using a motion controller, Proc. Int. Conf. on Industrial Informatics and Computer Systems (CIICS), pp.1-5, 2016.

R. A. Fernández, J. L. Sanchez-lopez, C. Sampedro, H. Bavle, M. Molina et al., Natural user interfaces for human-drone multi-modal interaction, Proc. Int. Conf. on Unmanned Aircraft Systems (ICUAS), pp.1013-1022, 2016.

C. Rognon, A. R. Wu, S. Mintchev, A. Ijspeert, and D. Floreano, Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation, Proc. Int. Conf. on Human Haptic Sensing and Touch Enabled Computer Applications, pp.404-415, 2018.

J. Cacace, A. Finzi, and V. Lippiello, Multimodal interaction with multiple co-located drones in search and rescue missions, 2016.

E. Tsykunov, R. Agishev, R. Ibrahimov, L. Labazanova, A. Tleugazy et al., Swarmtouch: Guiding a swarm of micro-quadrotors with impedance control using a wearable tactile interface, IEEE Trans. Haptics, vol.12, issue.3, pp.363-374, 2019.

D. Lee, A. Franchi, H. I. Son, C. Ha, H. H. Bülthoff et al., Semiautonomous haptic teleoperation control architecture of multiple unmanned aerial vehicles, IEEE/ASME Trans. Mechatronics, vol.18, issue.4, pp.1334-1345, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00910801

P. Giordano, A. Franchi, C. Secchi, and H. H. Bülthoff, Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization, IEEE IROS, pp.163-170, 2011.

A. Franchi, C. Secchi, M. Ryll, H. H. Bulthoff, and P. Giordano, Shared control: Balancing autonomy and human assistance with a group of quadrotor UAVs, IEEE Robotics & Automation Magazine, vol.19, issue.3, pp.57-68, 2012.

J. Claret, I. Zaplana, and L. Basañez, Teleoperating a mobile manipulator and a free-flying camera from a single haptic device, Proc. IEEE Int. Symp. on Safety, Security, and Rescue Robotics, pp.291-296, 2016.

N. Staub, M. Mohammadi, D. Bicego, Q. Delamare, H. Yang et al., The Tele-MAGMaS: An Aerial-Ground Comanipulator System, IEEE Robotics & Automation Magazine, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01935127

M. Aggravi, F. Pausé, P. Giordano, and C. Pacchierotti, Design and Evaluation of a Wearable Haptic Device for Skin Stretch, Pressure, and Vibrotactile Stimuli, IEEE Robotics and Automation Letters, vol.3, issue.3, pp.2166-2173, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01717248

A. Franchi, C. Secchi, H. I. Son, H. H. Bülthoff, and P. Giordano, Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology, IEEE Trans. Robotics, vol.28, issue.5, pp.1019-1033, 2012.

D. Zelazo, A. Franchi, H. H. Bülthoff, and P. Giordano, Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems, International Journal of Robotics Research, vol.34, issue.1, pp.105-128, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01076423

F. Schiano, P. , and R. Giordano, Bearing rigidity maintenance for formations of quadrotor uavs, IEEE Intl. Conf. Robotics and Automation (ICRA, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01482422

A. Franchi, P. , and R. Giordano, Online leader selection for improved collective tracking and formation maintenance, IEEE Trans. Control of Network Systems, vol.5, issue.1, pp.3-13, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01315463

A. Franchi, P. R. Giordano, and G. Michieletto, Online Leader Selection for Collective Tracking and Formation: the Second Order Case, IEEE Trans. Control of Network Systems, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01964754

F. Schiano, A. Franchi, D. Zelazo, and P. Giordano, A rigiditybased decentralized bearing formation controller for groups of quadrotor uavs, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp.5099-5106, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01348543

E. Soria, F. Schiano, and D. Floreano, The influence of limited visual sensing on the reynolds flocking algorithm, Proc. IEEE Intl. Conf. Robotic Computing (IRC), pp.138-145, 2019.

M. Mesbahi and M. Egerstedt, Graph theoretic methods in multiagent networks, 2010.

E. Canepa, An overview about the study of downwash effects on dispersion of airborne pollutants, Environmental Modelling & Software, vol.19, issue.12, pp.1077-1087, 2004.

L. Wang, A. D. Ames, and M. Egerstedt, Safe certificate-based maneuvers for teams of quadrotors using differential flatness, IEEE, pp.3293-3298, 2017.

D. W. Yeo, N. Sydney, and D. A. Paley, Onboard flow sensing for multi-rotor pitch control in wind, Journal of Guidance, Control, and Dynamics, vol.41, issue.5, pp.1196-1201, 2018.

D. Yeo, E. Shrestha, D. Paley, and E. Atkins, An Empirical Model of Rotorcraft UAV Downwash Model for Disturbance Localization and Avoidance, Proc. AIAA Atmospheric Flight Mechanics Conference, 2015.

D. W. Yeo, N. Sydney, D. Paley, and D. Sofge, Onboard Flow Sensing For Downwash Detection and Avoidance On Small Quadrotor Helicopters, Proc. AIAA Guidance Navigation and Control Conference, pp.2015-1769, 2015.

J. Bimbo, C. Pacchierotti, M. Aggravi, N. Tsagarakis, and D. Prattichizzo, Teleoperation in cluttered environments using wearable haptic feedback, IEEE, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01572358

F. Chinello, C. Pacchierotti, J. Bimbo, N. G. Tsagarakis, and D. Prattichizzo, Design and evaluation of a wearable skin stretch device for haptic guidance, IEEE Robotics and Automation Letters, vol.3, issue.1, pp.524-531, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01935192

F. Abi-farraj, C. Pacchierotti, O. Arenz, G. Neumann, and P. R. Giordano, A haptic shared-control architecture for guided multi-target robotic grasping, IEEE Trans. Haptics, 2019.
URL : https://hal.archives-ouvertes.fr/hal-02113206

M. Aggravi, G. Salvietti, and D. Prattichizzo, Haptic wrist guidance using vibrations for Human-Robot teams, IEEE Int. Symp. on Robots and Human Interactive Communications, pp.113-118, 2016.

G. B. Limentani, M. C. Ringo, F. Ye, M. L. Bergquist, and E. O. Mcsorley, Beyond the t-test: statistical equivalence testing, Analytical chemistry, vol.77, issue.11, pp.221-226, 2005.

C. Pacchierotti, D. Prattichizzo, and K. J. Kuchenbecker, Displaying sensed tactile cues with a fingertip haptic device, IEEE Trans. Haptics, vol.8, issue.4, pp.384-396, 2015.

C. Pacchierotti, Cutaneous haptic feedback in robotic teleoperation, 2015.

D. Brunner, Extreme high power drone with highest climb rate

T. H. Team, Drone thrust testing, 2018.

C. Pacchierotti, S. Sinclair, M. Solazzi, A. Frisoli, V. Hayward et al., Wearable haptic systems for the fingertip and the hand: taxonomy, review, and perspectives, IEEE Trans. Haptics, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01616501

F. Chinello, C. Pacchierotti, M. Malvezzi, and D. Prattichizzo, A three revolute-revolute-spherical wearable fingertip cutaneous device for stiffness rendering, IEEE Trans. Haptics, vol.11, issue.1, pp.39-50, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01616509

R. A. Freeman, P. Yang, and K. M. Lynch, Stability and convergence properties of dynamic average consensus estimators, IEEE CDC, pp.338-343, 2006.

M. Aggravi, he was a Visiting Researcher at the Georgia Institute of Technology, S'11, M'16) received his M.Sc. degree in Computer Science Engineering in 2011 and his Ph.D. degree in Information Engineering and Science in 2016, both from the University of, 2011.

C. Pacchierotti, He earned his Ph.D. degree at the Univ. Siena in 2014, and then he was a PostDoc at the Italian Institute of Technology, Genova. He visited the Penn Haptics Group at the University of, S'12, M'15, SM'20) is a researcher of the CNRS at IRISA and Inria RBA, 2014.

, He is Chair of the IEEE Technical Committee on Haptics and Secretary of the, IEEE Trans. Haptics Meritorious Service Award, 2015.

P. Giordano, he spent one year as a PostDoc at the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), and from 2008 to 2012 he was Senior Research Scientist at the Max Planck Institute for, SM'16) received his M.Sc. degree in Computer Science Engineering in 2001, and his Ph.D. degree in Systems Engineering, 2007.