Robot exploration algorithm

Question

I\'m trying to devise an algorithm for a robot trying to find the flag(positioned at unknown location), which is located in a world containing obstacles. Robot\'s mission is to

Answer 1

Part of it will be pathfinding, for example with the A* algorithm.

Part of it will be exploring. Any cell with an unknown neighbour is worth exploring. The best cells to explore are those closest to the robot and with the largest unexplored neighbourhood.

If the robot sees through walls some exploration candidates might be inaccessible and exploration might be required even if the flag is already visible.

It may be worthwhile to reevaluate the current target every time a new cell is revealed. As long as this is only done when new cells are revealed, progress will always be made.