@inproceedings{7173,
  abstract     = {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       = {Kirsch, André and Rexilius, Jan},
  keywords     = {MAV navigation, Reinforcement learning, Constrained navigation, Control barrier functions},
  location     = {Barcelona},
  title        = {{Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints}},
  year         = {2026},
}

@inproceedings{6790,
  author       = {Kirsch, André and Rexilius, Jan},
  keywords     = {Waste monitoring, Waste level estimation, MAV navigation},
  location     = {Lissabon, Portugal},
  title        = {{Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle}},
  doi          = {10.1109/IE69249.2026.11539031},
  year         = {2026},
}

@misc{6993,
  author       = {Kirsch, André and Rexilius, Jan},
  publisher    = {Hochschule Bielefeld},
  title        = {{Waste Bin Dataset }},
  year         = {2026},
}

@inproceedings{5771,
  author       = {Kirsch, André and Rexilius, Jan},
  booktitle    = { Proceedings of the 14th International Conference on Pattern Recognition Applications and Methods },
  editor       = {Castrillon-Santana, Modesto  and De Marsico, Maria and Fred, Ana },
  isbn         = { 978-989-758-730-6},
  issn         = {2184-4313},
  keywords     = {Tracking, Robot, Drone, MAV, External, Time-of-Flight, LiDAR},
  location     = {Porto},
  publisher    = {Science and Technology Publications},
  title        = {{ An Easy-to-Use System for Tracking Robotic Platforms Using Time-of-Flight Sensors in Lab Environments}},
  doi          = {10.5220/0013110500003905},
  year         = {2025},
}

@inproceedings{5281,
  author       = {Riechmann-Thom, Malte and Kirsch, André and König, Matthias and Rexilius, Jan},
  booktitle    = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
  location     = {Yokohama},
  title        = {{Virtual Borders in 3D: Defining a Drone’s Movement Space Using Augmented Reality}},
  doi          = {10.1109/ICRA57147.2024.10610259},
  year         = {2024},
}

@misc{5269,
  author       = {Kirsch, André and Rexilius, Jan},
  publisher    = {Hochschule Bielefeld},
  title        = {{Robotic Platform Tracking}},
  year         = {2024},
}

@inproceedings{4295,
  author       = {Matutat, André and Reinsch, Malte and Kirsch, André and George, Birgit Christina and Gips, Carsten},
  booktitle    = {StartPlay 2023 : Proceedings of the 2nd Interdisciplinary Conference on Gamification and Innovation},
  location     = {Bergische Universität Wuppertal},
  publisher    = {Bergische Universität Wuppertal},
  title        = {{Learning by Questing}},
  year         = {2023},
}

@inproceedings{3655,
  author       = {Kirsch, André and Matutat, André and Reinsch, Malte and George, Birgit Christina and Gips, Carsten},
  booktitle    = {Proceedings of the Sixth Workshop "Automatische Bewertung von Programmieraufgaben" (ABP 2023)},
  editor       = {Greubel, André and Strickroth, Sven and Striewe, Michael},
  keywords     = {Autograding, Automatisiertes Feedback, CI/CD-Pipeline},
  location     = {München},
  publisher    = {Gesellschaft für Informatik e.V.},
  title        = {{Deploy-to-Grading: Automatische Bewertung von Programmieraufgaben mit CI/CD-Pipelines}},
  doi          = {10.18420/ABP2023-11},
  year         = {2023},
}

@inproceedings{3656,
  author       = {Kirsch, André and Riechmann, Malte and König, Matthias},
  booktitle    = {2023 European Conference on Mobile Robots (ECMR)},
  location     = {Coimbra, Portugal},
  publisher    = {IEEE},
  title        = {{Assisted Localization of MAVs for Navigation in Indoor Environments Using Fiducial Markers}},
  doi          = {10.1109/ECMR59166.2023.10256424},
  year         = {2023},
}

@misc{6306,
  author       = {Kirsch, André and Riechmann-Thom, Malte and König, Matthias},
  publisher    = {Hochschule Bielefeld},
  title        = {{Assisted Localization of MAVs for Navigation in Indoor Environments Using Fiducial Markers}},
  year         = {2023},
}

@misc{6350,
  author       = {Kirsch, André and Riechmann-Thom, Malte and König, Matthias},
  title        = {{System und Verfahren zur Eingabe von virtuellen Objekten in drei Dimensionen mittels Augmented Reality zum Ermitteln des Bewegungsraums für Roboter}},
  year         = {2023},
}

@inproceedings{4307,
  author       = {Riechmann, Malte and Kirsch, André and König, Matthias},
  booktitle    = {2023 IEEE International Symposium on Mixed and Augmented Reality Adjunct (ISMAR-Adjunct)},
  location     = {Sydney, Australia},
  pages        = {561--566},
  publisher    = {IEEE},
  title        = {{Augmented Reality for Interactive Path Planning in 3D}},
  doi          = {10.1109/ISMAR-Adjunct60411.2023.00119},
  year         = {2023},
}

@inproceedings{1966,
  author       = {Kirsch, André and Günter, Andrei and König, Matthias},
  booktitle    = {12th International Conference on Pattern Recognition Systems},
  keywords     = {alignability prediction, point cloud registration, overlap metric, descriptors},
  location     = {Saint-Étienne},
  publisher    = {IEEE},
  title        = {{Predicting Alignability of Point Cloud Pairs for Point Cloud Registration Using Features}},
  doi          = {10.1109/ICPRS54038.2022.9854071},
  year         = {2022},
}

@misc{5270,
  author       = {Kirsch, André and Günter, Andrei and König, Matthias},
  publisher    = {Hochschule Bielefeld},
  title        = {{Predicting Alignability of Point Cloud Pairs for Point Cloud Registration Using Features}},
  year         = {2022},
}