Scott Fredriksson — accepted AI-conference papers

2026

An Adaptive Inspection Planning Approach towards Routine Monitoring in Uncertain Environments

Vignesh Kottayam Viswanathan, Yifan Bai, Scott Fredriksson, Gajanan Sumeet Satpute, Christoforos Kanellakis, George Nikolakopoulos

ICRA 2026poster

In this work, we present a hierarchical framework designed to support robotic inspection under environment uncertainty. By leveraging a known environment model, existing methods plan and safely track inspection routes to visit points of interest. However, discrepancies between the model and actual s…

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2025

Multi-Agent Path Finding Using Conflict-Based Search and Structural-Semantic Topometric Maps

Scott Fredriksson, Yifan Bai, Akshit Saradagi, George Nikolakopoulos

ICRA 2025

As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robots. Conflict-Based Search (CBS) is a popular method for multi-agent path finding (MAPF) due to its completeness and optim

Cited by 2 Source ↗Scholar ↗

2024

Robotic Exploration through Semantic Topometric Mapping

Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos

ICRA 2024poster

In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently explored parts of the environment into regions, such as inters…

Cited by 3 Source ↗Scholar ↗

2024

Voxel Map to Occupancy Map Conversion Using Free Space Projection for Efficient Map Representation for Aerial and Ground Robots

Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos

RA-L 2024

This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both autonomous aerial vehicles (AAVs) and autonomous ground vehicles (AGVs). The generated 2D maps can be used for more efficient global navig

Cited by 8 Source ↗Scholar ↗