This paper is available on arxiv under CC BY-NC-ND 4.0 DEED license. Authors: (1) Akash Chikhalikar, Graduate School of Engineering, Department of Robotics, Tohoku University; (2) Ankit A. Ravankar, Graduate School of Engineering, Department of Robotics, Tohoku University; (3)  Jose Victorio Salazar Luces, Graduate School of Engineering, Department of Robotics, Tohoku University; (4) Yasuhisa Hirata, Graduate School of Engineering, Department of Robotics, Tohoku University. Table of Links Abstract & Introduction Related Work Semantic Mapping Framework Multi-Target Search Experimental Studies Conclusions and Discussions, Acknowledgment and References VI. CONCLUSIONS AND DISCUSSIONS In this study, we have successfully demonstrated the feasibility of target search in indoor environments by effectively locating multiple targets using a novel heuristic. Our proposed approach offers a reliable region-to-region navigation strategy that can accommodate user preferences during the search. 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