This paper presents a human-robot interaction strategy to solve multiple agents path planning problem when a human operator guides a formation of quadrotors with impedance control and receives vibrotactile feedback. The proposed approach provides a solution based on a leader-followers architecture with a prescribed formation geometry that adapts dynamically to the environment and the operator. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors. The path generated by a human operator and impedance models is corrected with potential fields method that ensures robots trajectories to be collision-free, reshaping the geometry of the formation when required by environmental conditions (e.g. narrow passages). The tactile patterns representing the changing dynamics of the swarm are proposed. The user feels the state of the swarm at his fingertips and receives valuable information to improve the controllability of the complex formation. The proposed technology can potentially have a strong impact on the human-swarm interaction, providing a new level of intuitiveness and immersion into the swarm navigation.