Before revision:  We demonstrate the generalizability of our FoR prediction model and object search system through cross-validation over areas of five cities , each with a 40,000m^2 footprint.
After revision:  Search strategies are computed via an online POMDP planner based on Monte Carlo Tree Search. Evaluation based on crowdsourced language data, collected over areas of five cities , each with a 40,000m^2 footprint.