Mario Alberto Valdes Saucedo — accepted AI-conference papers

2025

A Hierarchical Graph-Based Terrain-Aware Autonomous Navigation Approach for Complementary Multimodal Ground-Aerial Exploration

Akash Patel, Mario Alberto Valdes Saucedo, Nikolaos Stathoulopoulos, Viswa Narayanan Sankaranarayanan, Ilias Tevetzidis, Christoforos Kanellakis +1

ICRA 2025

Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a hierarchical graph to represent the environment, encoding both geometri

Cited by 3 Source ↗Scholar ↗

2025

An Actionable Hierarchical Scene Representation Enhancing Autonomous Inspection Missions in Unknown Environments

Vignesh Kottayam Viswanathan, Mario Alberto Valdes Saucedo, Sumeet Gajanan Satpute, Christoforos Kanellakis, George Nikolakopoulos

IROS 2025

In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with a multi-modal mission planner, the FLIE: A First-Look based Inspection and Exploration planner [1]. The novelty of this work stems from aiming to address the task of main

Cited by 1 Source ↗Scholar ↗

2025

Estimating Commonsense Scene Composition on Belief Scene Graphs

Mario Alberto Valdes Saucedo, Vignesh Kottayam Viswanathan, Christoforos Kanellakis, George Nikolakopoulos

ICRA 2025

This work establishes the concept of commonsense scene composition, with a focus on extending Belief Scene Graphs by estimating the spatial distribution of unseen objects. Specifically, the commonsense scene composition capability refers to the understanding of the spatial relationships among relate

Cited by 3 Source ↗Scholar ↗

2025

SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D ScenE Graphs

Vignesh Kottayam Viswanathan, Akash Patel, Mario Alberto Valdes Saucedo, Sumeet Gajanan Satpute, Christoforos Kanellakis, George Nikolakopoulos

IROS 2025

In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free movement in dynamic scenes. The framework bifurcates the pla

Cited by 1 Source ↗Scholar ↗