---
_id: '7173'
abstract:
- lang: eng
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.
author:
- first_name: André
full_name: Kirsch, André
id: '229807'
last_name: Kirsch
- first_name: Jan
full_name: Rexilius, Jan
id: '245736'
last_name: Rexilius
orcid: 0000-0002-4579-214X
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0002-4579-214X/work/227345663
citation:
alphadin: 'Kirsch, André ; Rexilius,
Jan: Reinforcement Learning-based MAV Navigation With Parameterized Waypoints:
Incorporating Orientation, Speed Limits, and Corridor Constraints. In:'
ama: 'Kirsch A, Rexilius J. Reinforcement Learning-based MAV Navigation With Parameterized
Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints.'
apa: 'Kirsch, A., & 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.'
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} }'
chicago: 'Kirsch, André, and Jan Rexilius. “Reinforcement Learning-Based MAV Navigation
With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor
Constraints,” n.d.'
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. Reinforcement Learning-Based MAV Navigation
With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor
Constraints.'
short: 'A. Kirsch, J. Rexilius, in: n.d.'
conference:
end_date: 2026-11-20
location: Barcelona
name: 9th Iberian Robotics Conference (ROBOT)
start_date: 2026-11-18
date_created: 2026-09-21T14:31:38Z
date_updated: 2026-09-21T14:33:10Z
keyword:
- MAV navigation
- Reinforcement learning
- Constrained navigation
- Control barrier functions
language:
- iso: eng
project:
- _id: A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D
name: Institute for Building Intelligence
publication_status: accepted
quality_controlled: '1'
status: public
title: 'Reinforcement Learning-based MAV Navigation With Parameterized Waypoints:
Incorporating Orientation, Speed Limits, and Corridor Constraints'
type: conference
user_id: '229807'
year: '2026'
...
---
_id: '6790'
author:
- first_name: André
full_name: Kirsch, André
id: '229807'
last_name: Kirsch
- first_name: Jan
full_name: Rexilius, Jan
id: '245736'
last_name: Rexilius
orcid: 0000-0002-4579-214X
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0002-4579-214X/work/208820721
citation:
alphadin: 'Kirsch, André ; Rexilius,
Jan: Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro
Aerial Vehicle. In: , 2026'
ama: 'Kirsch A, Rexilius J. Vision-Based Autonomous Waste Bin Fill-Level Monitoring
with a Micro Aerial Vehicle. In: ; 2026. doi:10.1109/IE69249.2026.11539031'
apa: Kirsch, A., & 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. https://doi.org/10.1109/IE69249.2026.11539031
bibtex: '@inproceedings{Kirsch_Rexilius_2026, title={Vision-Based Autonomous Waste
Bin Fill-Level Monitoring with a Micro Aerial Vehicle}, DOI={10.1109/IE69249.2026.11539031},
author={Kirsch, André and Rexilius, Jan}, year={2026} }'
chicago: Kirsch, André, and Jan Rexilius. “Vision-Based Autonomous Waste Bin Fill-Level
Monitoring with a Micro Aerial Vehicle,” 2026. https://doi.org/10.1109/IE69249.2026.11539031.
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. Vision-Based Autonomous Waste Bin Fill-Level
Monitoring with a Micro Aerial Vehicle. 2026, doi:10.1109/IE69249.2026.11539031.
short: 'A. Kirsch, J. Rexilius, in: 2026.'
conference:
end_date: 2026-06-18
location: Lissabon, Portugal
name: 22nd International Conference on Intelligent Environments (IE)
start_date: 2026-06-15
date_created: 2026-03-06T12:30:43Z
date_updated: 2026-06-23T06:50:04Z
department:
- _id: '102'
doi: 10.1109/IE69249.2026.11539031
keyword:
- Waste monitoring
- Waste level estimation
- MAV navigation
language:
- iso: eng
main_file_link:
- url: https://ieeexplore.ieee.org/document/11539031
project:
- _id: A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D
name: Institute for Building Intelligence
publication_status: published
quality_controlled: '1'
related_material:
record:
- id: '6993'
relation: other
status: public
status: public
title: Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial
Vehicle
type: conference
user_id: '220548'
year: '2026'
...
---
_id: '5771'
author:
- first_name: André
full_name: Kirsch, André
id: '229807'
last_name: Kirsch
- first_name: Jan
full_name: Rexilius, Jan
id: '245736'
last_name: Rexilius
orcid: 0000-0002-4579-214X
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0002-4579-214X/work/179122389
citation:
alphadin: 'Kirsch, André ; Rexilius,
Jan: 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. (Hrsg.): Proceedings of the
14th International Conference on Pattern Recognition Applications and Methods
. Setúbal, Portugal : Science and Technology Publications, 2025'
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. Proceedings of the 14th International Conference on
Pattern Recognition Applications and Methods . Setúbal, Portugal: Science
and Technology Publications; 2025. doi:10.5220/0013110500003905'
apa: 'Kirsch, A., & 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, & A. Fred (Eds.), Proceedings of the 14th International
Conference on Pattern Recognition Applications and Methods . Setúbal, Portugal:
Science and Technology Publications. https://doi.org/10.5220/0013110500003905'
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={10.5220/0013110500003905},
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} }'
chicago: 'Kirsch, André, and Jan Rexilius. “ An Easy-to-Use System for Tracking
Robotic Platforms Using Time-of-Flight Sensors in Lab Environments.” In Proceedings
of the 14th International Conference on Pattern Recognition Applications and Methods
, edited by Modesto Castrillon-Santana, Maria De Marsico, and Ana Fred.
Setúbal, Portugal: Science and Technology Publications, 2025. https://doi.org/10.5220/0013110500003905.'
ieee: A. Kirsch and J. Rexilius, “ An Easy-to-Use System for Tracking Robotic Platforms
Using Time-of-Flight Sensors in Lab Environments,” in Proceedings of the 14th
International Conference on Pattern Recognition Applications and Methods ,
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.” Proceedings of
the 14th International Conference on Pattern Recognition Applications and Methods
, edited by Modesto Castrillon-Santana et al., Science and Technology Publications,
2025, doi:10.5220/0013110500003905.
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.'
conference:
end_date: 2025-02-25
location: Porto
name: 14th International Conference on Pattern Recognition Applications and Methods
(ICPRAM)
start_date: 2025-02-23
date_created: 2025-02-28T13:04:18Z
date_updated: 2026-03-17T15:29:22Z
department:
- _id: '102'
doi: 10.5220/0013110500003905
editor:
- first_name: 'Modesto '
full_name: 'Castrillon-Santana, Modesto '
last_name: Castrillon-Santana
- first_name: Maria
full_name: De Marsico, Maria
last_name: De Marsico
- first_name: 'Ana '
full_name: 'Fred, Ana '
last_name: Fred
keyword:
- Tracking
- Robot
- Drone
- MAV
- External
- Time-of-Flight
- LiDAR
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://www.scitepress.org/Papers/2025/131105/131105.pdf
oa: '1'
place: Setúbal, Portugal
project:
- _id: A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D
name: Institute for Building Intelligence
publication: ' Proceedings of the 14th International Conference on Pattern Recognition
Applications and Methods '
publication_identifier:
isbn:
- ' 978-989-758-730-6'
issn:
- 2184-4313
publication_status: published
publisher: Science and Technology Publications
quality_controlled: '1'
status: public
title: ' An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight
Sensors in Lab Environments'
type: conference
user_id: '229807'
year: '2025'
...