[{"citation":{"ieee":"A. Kirsch and J. Rexilius, “Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints,” presented at the 9th Iberian Robotics Conference (ROBOT), Barcelona.","mla":"Kirsch, André, and Jan Rexilius. <i>Reinforcement Learning-Based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints</i>.","alphadin":"<span style=\"font-variant:small-caps;\">Kirsch, André</span> ; <span style=\"font-variant:small-caps;\">Rexilius, Jan</span>: Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints. In:","short":"A. Kirsch, J. Rexilius, in: n.d.","ama":"Kirsch A, Rexilius J. Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints.","bibtex":"@inproceedings{Kirsch_Rexilius, title={Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints}, author={Kirsch, André and Rexilius, Jan} }","apa":"Kirsch, A., &#38; Rexilius, J. (n.d.). Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints. Presented at the 9th Iberian Robotics Conference (ROBOT), Barcelona.","chicago":"Kirsch, André, and Jan Rexilius. “Reinforcement Learning-Based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints,” n.d."},"_id":"7173","author":[{"id":"229807","first_name":"André","last_name":"Kirsch","full_name":"Kirsch, André"},{"full_name":"Rexilius, Jan","orcid_put_code_url":"https://api.orcid.org/v2.0/0000-0002-4579-214X/work/227345663","orcid":"0000-0002-4579-214X","last_name":"Rexilius","first_name":"Jan","id":"245736"}],"date_updated":"2026-09-21T14:33:10Z","status":"public","publication_status":"accepted","date_created":"2026-09-21T14:31:38Z","user_id":"229807","abstract":[{"text":"Reinforcement learning has achieved state-of-the-art performance in MAV control, waypoint flight, and obstacle avoidance. However, existing RL approaches often assume fixed objectives and constraints, with flight behavior largely limited by vehicle dynamics and orientation considered only when required for locomotion. Classical planning and model predictive control handle such constraints explicitly, but require optimization or replanning. This motivates methods that combine learned local control with explicit constraint handling. We combine reinforcement learning with control barrier functions to improve constraint-aware execution. We propose parameterized waypoints that encode orientation, velocity, and corridor constraints. Simulation and real-world experiments show that a single policy can execute different constraint-parameterized navigation scenarios, revealing scenario-dependent trade-offs between traversal time, tracking accuracy, and constraint satisfaction.","lang":"eng"}],"language":[{"iso":"eng"}],"conference":{"start_date":"2026-11-18","end_date":"2026-11-20","name":"9th Iberian Robotics Conference (ROBOT)","location":"Barcelona"},"quality_controlled":"1","title":"Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints","project":[{"name":"Institute for Building Intelligence","_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D"}],"keyword":["MAV navigation","Reinforcement learning","Constrained navigation","Control barrier functions"],"year":"2026","type":"conference"},{"related_material":{"record":[{"status":"public","relation":"other","id":"6993"}]},"conference":{"end_date":"2026-06-18","location":"Lissabon, Portugal","name":"22nd International Conference on Intelligent Environments (IE)","start_date":"2026-06-15"},"project":[{"name":"Institute for Building Intelligence","_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D"}],"quality_controlled":"1","title":"Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle","keyword":["Waste monitoring","Waste level estimation","MAV navigation"],"year":"2026","type":"conference","doi":"10.1109/IE69249.2026.11539031","main_file_link":[{"url":"https://ieeexplore.ieee.org/document/11539031"}],"citation":{"alphadin":"<span style=\"font-variant:small-caps;\">Kirsch, André</span> ; <span style=\"font-variant:small-caps;\">Rexilius, Jan</span>: Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle. In: , 2026","ieee":"A. Kirsch and J. Rexilius, “Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle,” presented at the 22nd International Conference on Intelligent Environments (IE), Lissabon, Portugal, 2026.","mla":"Kirsch, André, and Jan Rexilius. <i>Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle</i>. 2026, doi:<a href=\"https://doi.org/10.1109/IE69249.2026.11539031\">10.1109/IE69249.2026.11539031</a>.","short":"A. Kirsch, J. Rexilius, in: 2026.","bibtex":"@inproceedings{Kirsch_Rexilius_2026, title={Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle}, DOI={<a href=\"https://doi.org/10.1109/IE69249.2026.11539031\">10.1109/IE69249.2026.11539031</a>}, author={Kirsch, André and Rexilius, Jan}, year={2026} }","ama":"Kirsch A, Rexilius J. Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle. In: ; 2026. doi:<a href=\"https://doi.org/10.1109/IE69249.2026.11539031\">10.1109/IE69249.2026.11539031</a>","chicago":"Kirsch, André, and Jan Rexilius. “Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle,” 2026. <a href=\"https://doi.org/10.1109/IE69249.2026.11539031\">https://doi.org/10.1109/IE69249.2026.11539031</a>.","apa":"Kirsch, A., &#38; Rexilius, J. (2026). Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle. Presented at the 22nd International Conference on Intelligent Environments (IE), Lissabon, Portugal. <a href=\"https://doi.org/10.1109/IE69249.2026.11539031\">https://doi.org/10.1109/IE69249.2026.11539031</a>"},"_id":"6790","department":[{"_id":"102"}],"author":[{"last_name":"Kirsch","first_name":"André","full_name":"Kirsch, André","id":"229807"},{"id":"245736","last_name":"Rexilius","orcid":"0000-0002-4579-214X","first_name":"Jan","full_name":"Rexilius, Jan","orcid_put_code_url":"https://api.orcid.org/v2.0/0000-0002-4579-214X/work/208820721"}],"date_updated":"2026-06-23T06:50:04Z","status":"public","publication_status":"published","date_created":"2026-03-06T12:30:43Z","user_id":"220548","language":[{"iso":"eng"}]},{"conference":{"end_date":"2025-02-25","location":"Porto","name":"14th International Conference on Pattern Recognition Applications and Methods (ICPRAM)","start_date":"2025-02-23"},"oa":"1","keyword":["Tracking","Robot","Drone","MAV","External","Time-of-Flight","LiDAR"],"quality_controlled":"1","project":[{"name":"Institute for Building Intelligence","_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D"}],"title":" An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight Sensors in Lab Environments","place":"Setúbal, Portugal","year":"2025","doi":"10.5220/0013110500003905","type":"conference","publisher":"Science and Technology Publications","main_file_link":[{"open_access":"1","url":"https://www.scitepress.org/Papers/2025/131105/131105.pdf"}],"_id":"5771","citation":{"chicago":"Kirsch, André, and Jan Rexilius. “ An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight Sensors in Lab Environments.” In <i> Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods </i>, edited by Modesto  Castrillon-Santana, Maria De Marsico, and Ana  Fred. Setúbal, Portugal: Science and Technology Publications, 2025. <a href=\"https://doi.org/10.5220/0013110500003905\">https://doi.org/10.5220/0013110500003905</a>.","apa":"Kirsch, A., &#38; Rexilius, J. (2025).  An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight Sensors in Lab Environments. In M. Castrillon-Santana, M. De Marsico, &#38; A. Fred (Eds.), <i> Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods </i>. Setúbal, Portugal: Science and Technology Publications. <a href=\"https://doi.org/10.5220/0013110500003905\">https://doi.org/10.5220/0013110500003905</a>","ama":"Kirsch A, Rexilius J.  An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight Sensors in Lab Environments. In: Castrillon-Santana M, De Marsico M, Fred A, eds. <i> Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods </i>. Setúbal, Portugal: Science and Technology Publications; 2025. doi:<a href=\"https://doi.org/10.5220/0013110500003905\">10.5220/0013110500003905</a>","bibtex":"@inproceedings{Kirsch_Rexilius_2025, place={Setúbal, Portugal}, title={ An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight Sensors in Lab Environments}, DOI={<a href=\"https://doi.org/10.5220/0013110500003905\">10.5220/0013110500003905</a>}, booktitle={ Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods }, publisher={Science and Technology Publications}, author={Kirsch, André and Rexilius, Jan}, editor={Castrillon-Santana, Modesto  and De Marsico, Maria and Fred, Ana Editors}, year={2025} }","ieee":"A. Kirsch and J. Rexilius, “ An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight Sensors in Lab Environments,” in <i> Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods </i>, Porto, 2025.","mla":"Kirsch, André, and Jan Rexilius. “ An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight Sensors in Lab Environments.” <i> Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods </i>, edited by Modesto  Castrillon-Santana et al., Science and Technology Publications, 2025, doi:<a href=\"https://doi.org/10.5220/0013110500003905\">10.5220/0013110500003905</a>.","alphadin":"<span style=\"font-variant:small-caps;\">Kirsch, André</span> ; <span style=\"font-variant:small-caps;\">Rexilius, Jan</span>:  An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight Sensors in Lab Environments. In: <span style=\"font-variant:small-caps;\">Castrillon-Santana, M.</span> ; <span style=\"font-variant:small-caps;\">De Marsico, M.</span> ; <span style=\"font-variant:small-caps;\">Fred, A.</span> (Hrsg.): <i> Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods </i>. Setúbal, Portugal : Science and Technology Publications, 2025","short":"A. Kirsch, J. Rexilius, in: M. Castrillon-Santana, M. De Marsico, A. Fred (Eds.),  Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods , Science and Technology Publications, Setúbal, Portugal, 2025."},"department":[{"_id":"102"}],"author":[{"last_name":"Kirsch","first_name":"André","full_name":"Kirsch, André","id":"229807"},{"id":"245736","full_name":"Rexilius, Jan","orcid_put_code_url":"https://api.orcid.org/v2.0/0000-0002-4579-214X/work/179122389","orcid":"0000-0002-4579-214X","last_name":"Rexilius","first_name":"Jan"}],"editor":[{"full_name":"Castrillon-Santana, Modesto ","first_name":"Modesto ","last_name":"Castrillon-Santana"},{"full_name":"De Marsico, Maria","first_name":"Maria","last_name":"De Marsico"},{"full_name":"Fred, Ana ","last_name":"Fred","first_name":"Ana "}],"status":"public","date_updated":"2026-03-17T15:29:22Z","publication":" Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods ","date_created":"2025-02-28T13:04:18Z","publication_status":"published","user_id":"229807","publication_identifier":{"issn":["2184-4313"],"isbn":[" 978-989-758-730-6"]},"language":[{"iso":"eng"}]}]