• CLUSTER_MERGING_DIST : ExplorationPlanner.cpp
• INNER_DISTANCE : ExplorationPlanner.cpp
• MAX_DISTANCE : ExplorationPlanner.cpp
• MAX_GOAL_RANGE : ExplorationPlanner.cpp
• MAX_NEIGHBOR_DIST : ExplorationPlanner.cpp
• MINIMAL_FRONTIER_RANGE : ExplorationPlanner.cpp
• OPERATE_ON_GLOBAL_MAP : explorer.cpp
• OPERATE_WITH_GOAL_BACKOFF : explorer.cpp
• verbose : hungarian.cpp