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The robotic task, the operational environment, and the robot embodiment represent the dimensions of the \u201cproblem space\u201d in robot exploration. At the same time, a lot of exploration strategies are documented in the literature that provide partial solutions to the exploration problem. They define the \u201csolution space\u201d in robot exploration. To our knowledge, no previous work has provided a methodical overview of robot exploration strategies from the point of view of both the problem and solution spaces. In this systematic mapping study, we build a taxonomy of autonomous robot exploration strategies and application requirements and classify existing approaches according to it. 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