Overall in my dissertation, I use physical interactions to enhance mobility in robot-to-robot interactions and to improve communication in robot-to-human interactions. I do this by exploring two lines of inquiry: (1) Algorithm development for an embodied multi-robot system, and (2) Exploring and developing physical drone-to-human communication methods. For the first, I present a novel flexible modular robot. I helped develop a new type of planar modular robot, the main contribution being in the design of a system that is scalable to fabricate and operate. This required new types of coordination algorithms that specifically weigh the importance of energy consumption, scalable computation, and redundancy in connections. For the second, I focus on understanding, designing, and utilizing physical interactions between drones and humans. Physical touch is a useful communication mode in human-robot collaborations, but it has been explored less in human-drone interactions. Physical human-drone interactions are important to understand in order to safely expand the applications for drones as they become more incorporated in human spaces. I present findings from user studies exploring novel communication methods in full body physical human-drone interactions.