Swagger 2.0 supports the collectionFormat parameter. From the documentation:
Determines the format of the array if type array is used. Possible values are:  
- csv: comma separated values:- foo,bar
- ssv: space separated values:- foo bar
- tsv: tab separated values:- foo\tbar
- pipes: pipe separated values:- foo|bar
- multi: corresponds to multiple parameter instances instead of multiple values for a single instance- foo=bar&foo=baz. This is valid only for parameters in "query" or "formData".
Default value is csv.
An example of use can be seen on the documentation:
{
  "get": {
    "description": "Returns pets based on ID",
    "summary": "Find pets by ID",
    "operationId": "getPetsById",
    "produces": [
      "application/json",
      "text/html"
    ],
    "responses": { ... }
  },
  "parameters": [
    {
      "name": "id",
      "in": "path",
      "description": "ID of pet to use",
      "required": true,
      "type": "array",
      "items": {
        "type": "string"
      },
      "collectionFormat": "csv"
    }
  ]
}