All of the locations already mentioned in the novel.

Heorot is the capital of the country with the same name, ruled by King Hrothgar the Naïve.

Barnsley and Strawford are mandatory stops in the route between Mirfield and Colchester. Beowulf took the entire fall to track Helen's family because they did not settle in those towns.

Colors:

Yellow painted dots are human settlements. Green are non-human (elves, dwarves, beastkin). Red are the demons, purple are monsters. The circles borders are the kingdom the settlements belong.

Some directions in the chapters might not be accurate with what is shown here. Please consider the map a more precise source.