Dogs should always be under control - in sight on voice control or leashed. Ours have usually accompanied us on recreational jaunts and on a few more extraordinary trips. They sleep in the same shelter(s) as we do.
Some folks feel that an energetic yappy dog is more likely to return to camp, tail 'twixt legs, with a hot and bothered bear close behind. I think it depends on the dog. For certain, some of ours would have stood ground (and died) to buy us some time - but then, they were disciplined and not exactly little yappy dogs. The present 2 dogs are unknown in that regard and they stay leashed. I suspect one would cower silently in place and the other would stand ground, but would as soon not find out.
Guess it depends on the dog(s) and the circumstances. And being considerate of other folks out in the area. There are places in Alaska one can readily get to that you will not encounter anyone else on a weekend or longer trip, so things can be a little looser with disciplined and obediant dogs.
Regards,
Tom