Yuyi Liu

申し訳ありません、このコンテンツはただ今 アメリカ英語 のみです。 For the sake of viewer convenience, the content is shown below in the alternative language. You may click the link to switch the active language.

I received my bachelor degree (with 1st class) in University of Birmingham, UK and Fudan University, China in 2011. Then I received my master degree (with Distinction) at Department of Aeronautics in Imperial College London, UK. In 2018, I received my doctor degree (with magna cum laude) in Computer Science (Robotics) at University of Tübingen, Germany.

During my doctorate study, I conducted research on nonlinear optimal control, trajectory planning, formation and human-robot interaction of single and multiple unmanned aerial vehicles, aerial robots and mobile robots at Group of Autonomous Robotics and Human Machine Systems, Max-Planck Institute for Biological Cybernetics, and at Chair of Cognitive Systems, Department of Computer Science, University of Tübingen, Germany.

I also had several research stay and co-work experience at Control and Power Group, Department of Electrical and Electronic Engineering, Imperial College London, UK; at Optimization in Engineering Center (OPTEC), KU Leuven, Belgium; at Institute for System Technology and Automatic Control, University of Stuttgart, Germany; and at Department of Perceiving Systems, MPI for Intelligent Systems, Germany.

Currently, I am carrying out research on a main topic of Human Mobile-Robot Interaction. For instance, to develop novel human-inspired navigation and planning algorithms for mobile robots in human environment for the sake of high-efficient human robot interaction.

Research Overview

  • Social Navigation
  • Human Mobile-Robot Interaction
  • Interactive Trajectory Planning
  • Control of Multiple Mobile-Robot Systems



  1. Y. Liu, J. M. Montenbruck, D. Zelazo, M. Odelga, S. Rajappa, H. H. Bülthoff, F. Allgöwer, A. Zell, “A Distributed Control Approach to Formation Balancing and Maneuvering of Multiple Multirotor UAVs”, IEEE Transactions on Robotics, vol. 34, no. 4, pp. 870-882, 2018.
  2. Y. Liu, S. Rajappa, J. M. Montenbruck, P. Stegagno, H. Bülthoff, F. Allgöwer, A. Zell, “Robust Nonlinear Control Approach to Nontrivial Maneuvers and Obstacle Avoidance for Quadrotor UAV under Disturbances”, Robotics and Autonomous Systems, vol. 98, pp. 317-332, 2017.
  3. Y. Liu, J. van Schijndel, S. Longo, E. C. Kerrigan, “UAV Energy Extraction with Incomplete Atmospheric Data Using MPC”, IEEE Transactions on Aerospace and Electronic Systems, vol. 51, no. 2, pp. 1203-1215, 2015.
  4. C. Yang, Y. Liu, A. Zell, “A Relative Camera Pose Estimation using Synthetic Data with Domain Adaptation via Cycle-Consistent Adversarial Networks”,  Journal of Intelligent & Robotic Systems, vol. 102, 79, 2021.
  5. S. Schneider, Y. Liu*, K. Tomita, T. Kanda, “Stop Ignoring Me! On Fighting the Trivialization of Social Robots in Public Spaces”, submitted to ACM Transactions on Human-Robot Interaction, in press.


  1. Y. Liu, J. M. Montenbruck, P. Stegagno, F. Allgöwer, A. Zell, “A Robust Nonlinear Controller for Nontrivial Quadrotor Maneuvers: Approach and Verification”, in Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5410-5416.
  2. Y. Liu, S. Longo, E. C. Kerrigan, “Nonlinear Predictive Control of Autonomous Soaring UAVs Using 3DOF Models”, in Proceedings of the European Control Conference (ECC) 2013, pp. 1365-1370.
  3. C. Yang, Y. Liu, A. Zell, “RCPNet: Deep-Learning based Relative Camera Pose Estimation for UAVs”, in Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS) 2020, pp. 1085-1092.
  4. R. Kitagawa, Y. Liu*, T. Kanda, “Human-inspired Motion Planning for Omni-directional Social Robots”, in Proceedings of  ACM/IEEE International Conference on Human Robot Interaction (HRI) 2021, pp. 34-42.
  5. C. Yang, Y. Liu, A. Zell, “Learning-based Camera Relocalization with Domain Adaptation via Image-to-Image Translation”,  in Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS) 2021.