This video shows human in the loop simulations with a haptic interface using our method to control a group of aerial robots to cooperatively manipulate an object like a flying hand.
See  for the paper describing the method used in the following video.
- . Cooperative Aerial Tele-Manipulation with Haptic Feedback. In: 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System. Daejeon, South Korea; 2016. pp. 5092-5098.