diff --git a/roadmap_explorer/params/exploration_params.yaml b/roadmap_explorer/params/exploration_params.yaml
index e9bb3e8..96fdb90 100755
--- a/roadmap_explorer/params/exploration_params.yaml
+++ b/roadmap_explorer/params/exploration_params.yaml
@@ -42,10 +42,6 @@ roadmap_explorer_node:
       add_yaw_to_tsp: false
       add_distance_to_robot_to_tsp: false 
 
-    goalHysteresis:
-      use_euclidean_distance: false
-      use_roadmap_planner_distance: true
-
     explorationBT:
       bt_sleep_ms: 70
       exploration_boundary: [310.0, 260.0, 310.0, -120.0, -70.0, -120.0, -70.0, 260.0]
diff --git a/roadmap_explorer/params/tb3_exploration_params.yaml b/roadmap_explorer/params/tb3_exploration_params.yaml
index acb508d..4136e84 100644
--- a/roadmap_explorer/params/tb3_exploration_params.yaml
+++ b/roadmap_explorer/params/tb3_exploration_params.yaml
@@ -42,10 +42,6 @@ roadmap_explorer_node:
       add_yaw_to_tsp: false
       add_distance_to_robot_to_tsp: false 
 
-    goalHysteresis:
-      use_euclidean_distance: false
-      use_roadmap_planner_distance: true
-
     explorationBT:
       bt_sleep_ms: 70
       exploration_boundary: [310.0, 260.0, 310.0, -120.0, -70.0, -120.0, -70.0, 260.0]
diff --git a/roadmap_explorer/src/ExplorationBT.cpp b/roadmap_explorer/src/ExplorationBT.cpp
index b3aaac9..3cb2fba 100644
--- a/roadmap_explorer/src/ExplorationBT.cpp
+++ b/roadmap_explorer/src/ExplorationBT.cpp
@@ -85,7 +85,7 @@ bool RoadmapExplorationBT::incrementFrontierSearchDistance()
   double increment_value = parameterInstance.getValue<double>("frontierSearch.increment_search_distance_by");
   LOG_WARN("Incrementing frontier search distance by " << increment_value);
   auto distance_to_set = current_frontier_search_distance + increment_value;
-  if (distance_to_set > parameterInstance.getValue<double>("frontierSearch.max_permissible_frontier_search_distance")) {
+  if (distance_to_set > parameterInstance.getValue<double>("frontierSearch.max_permissable_frontier_search_distance")) {
     return false;
   }
   blackboard->set<double>("current_frontier_search_distance", distance_to_set);
diff --git a/roadmap_explorer/src/Parameters.cpp b/roadmap_explorer/src/Parameters.cpp
index 40c0dd3..0b2b927 100644
--- a/roadmap_explorer/src/Parameters.cpp
+++ b/roadmap_explorer/src/Parameters.cpp
@@ -92,19 +92,6 @@ void ParameterHandler::makeParameters(std::shared_ptr<nav2_util::LifecycleNode>
   parameter_map_["fullPathOptimizer.add_distance_to_robot_to_tsp"] = node->get_parameter(
     "fullPathOptimizer.add_distance_to_robot_to_tsp").as_bool();
 
-  // --- goalHysteresis ---
-  nav2_util::declare_parameter_if_not_declared(
-    node, "goalHysteresis.use_euclidean_distance", rclcpp::ParameterValue(
-      false));
-  nav2_util::declare_parameter_if_not_declared(
-    node, "goalHysteresis.use_roadmap_planner_distance", rclcpp::ParameterValue(
-      true));
-
-  parameter_map_["goalHysteresis.use_euclidean_distance"] = node->get_parameter(
-    "goalHysteresis.use_euclidean_distance").as_bool();
-  parameter_map_["goalHysteresis.use_roadmap_planner_distance"] = node->get_parameter(
-    "goalHysteresis.use_roadmap_planner_distance").as_bool();
-
   // --- explorationBT ---
   nav2_util::declare_parameter_if_not_declared(
     node, "explorationBT.bt_sleep_ms", rclcpp::ParameterValue(
@@ -189,17 +176,7 @@ void ParameterHandler::makeParameters(std::shared_ptr<nav2_util::LifecycleNode>
 
 void ParameterHandler::sanityCheckParameters()
 {
-  if (getValue<bool>("goalHysteresis.use_euclidean_distance") == true &&
-    getValue<bool>("goalHysteresis.use_roadmap_planner_distance") == true)
-  {
-    throw RoadmapExplorerException(
-            "Both use_euclidean_distance and use_roadmap_planner_distance are set to true. Please set only one of them to true.");
-  } else if (getValue<bool>("goalHysteresis.use_euclidean_distance") == false &&
-    getValue<bool>("goalHysteresis.use_roadmap_planner_distance") == false)
-  {
-    throw RoadmapExplorerException(
-            "Both use_euclidean_distance and use_roadmap_planner_distance are set to false. Please set only one of them to true.");
-  }
+  // currently there are no sanity checks
 }
 
 rcl_interfaces::msg::SetParametersResult ParameterHandler::dynamicReconfigureCallback(
diff --git a/roadmap_explorer/src/bt_plugins/SearchForFrontiersPlugin.cpp b/roadmap_explorer/src/bt_plugins/SearchForFrontiersPlugin.cpp
index 5adbb6e..82fa237 100644
--- a/roadmap_explorer/src/bt_plugins/SearchForFrontiersPlugin.cpp
+++ b/roadmap_explorer/src/bt_plugins/SearchForFrontiersPlugin.cpp
@@ -36,6 +36,7 @@ namespace roadmap_explorer
         LOG_INFO("Using robot pose: " << robotP.pose.position.x << ", " << robotP.pose.position.y);
         std::vector<FrontierPtr> frontier_list;
         auto current_frontier_search_distance = config().blackboard->get<double>("current_frontier_search_distance");
+        LOG_HIGHLIGHT("Current frontier search distance: " << current_frontier_search_distance);
         auto searchResult = frontierSearchPtr_->searchFrom(robotP.pose.position, frontier_list, current_frontier_search_distance);
         if (searchResult != FrontierSearchResult::SUCCESSFUL_SEARCH)
         {