The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of interest is first tessellated, and the tiles/cells are connected using a SFC pattern. A robot follows the SFC to explore the entire area. However, obstacles can block the systematic movement of the robot. We overcome this problem by determining an alternate path online that avoids the blocked cells while ensuring all the accessible cells are visited at least once. The proposed strategy chooses next waypoint based on the graph connectivity of the cells and the obstacle encountered so far. It is online, exhaustive and works in situations demanding non-uniform coverage. The completeness of the strategy is proved and its desirable properties are discussed with examples.

翻译：本文提出了一种基于空间填充曲线（SFC）的机器人探索策略。该策略可规划一条避开未知障碍物、同时确保完全覆盖感兴趣区域中自由空间的路径。首先对感兴趣区域进行网格划分，并利用SFC模式连接网格/单元。机器人沿SFC遍历整个区域，然而障碍物可能阻碍系统的有序运动。我们通过在线确定替代路径来解决该问题：该路径在避开受阻单元的同时，确保所有可访问单元至少被访问一次。所提策略根据单元间的图连通性及已遭遇的障碍物选择下一航点。该策略具备在线性、完备性，并适用于需非均匀覆盖的场景。文中证明了策略的完备性，并通过实例讨论了其理想特性。