Title:A review of utility and cost functions used in frontier-based exploration algorithmsAuthor(s):Daniel Louback da Silva Lubanco,  Markus Pichler-Scheder,  T. Schlechter,  Martin Scherhäufl,  Christian KastlBooktitle:Proc. 5th Int. Conf. Robot. Autom. Eng. (ICRAE)Page Reference:5 page(s)Publishing:11/2020

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