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The active search for objects of interest in an unknown environment has many robotics applications including search and rescue, detecting gas leaks or locating animal poachers. Existing algorithms often prioritize the location accuracy of objects of interest while other practical issues such as the reliability of object detection as a function of distance and lines of sight remain largely ignored. Additionally, in many active search scenarios, communication infrastructure may be unreliable orarXiv:2011.04825v2 fatcat:43ue3r7a7bgw3ikfzbffu5mrdq