Marpally, S.R.Nagarakshith, M.S.Sadananda, A.Guruprasad, K.R.2026-02-0620192019 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2019 - Proceedings, 2019, Vol., , p. -https://doi.org/10.1109/DISCOVER47552.2019.9008095https://idr.nitk.ac.in/handle/123456789/31004In this paper, we address a problem of mapping an unknown region of interest by a mobile robot. Unlike the conventional exploration and mapping techniques where the occupancy map of a spatially discretized environment is obtained, in the proposed Geometric Mapping (G-Mapping) strategy, the map is obtained in the form of geometric models of the obstacles, in a continuous space. For simplicity, we consider convex polygonal obstacles within a convex region. The proposed exploration strategy is implemented using MATLAB. The simulation results are presented to illustrate and demonstrate the G-Mapping strategy. © 2019 IEEE.ExplorationGeometric modelMappingmobile robot