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Ultra-dense heterogeneous networks (HetNets) are deployment scenarios in the advent of fifth generation (5G) and beyond network generations. A massive number of small base stations (SBSs) and connected devices have been exponentially increasing. This has subsequently led to a rise of several mobility management issues which require optimization techniques to avoid performance degradation. Machine learning (ML) is a promising approach for future mobile communication networks (5G and beyond). It has the ability of improving the efficiency of complicated heterogeneous and decentralized networks. ML has proven to be significant in the mobility management field since it optimizes handover control parameters (HCPs) over various dynamic environments. To the best of the authors’ knowledge, no comprehensive survey deeply discussing a state-of-the-art ML algorithms in mobility robustness …