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Exploration system

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To explore you have two options, maritime and terrestrial ways:

Maritime way

To explore maritimely you need to have advanced technology, enough to explore the oceans. It would also depend on the tranquility and the route, following the winds it would be easier to explore. In the event that the exploiters reach the new lands, pray that they do not die along the way, whether due to tropical diseases, mutinies, foreign armies, starvation or a storm, in which case the territories would not be shown and an event of destruction would be seen. loss of confidence and investment in future expeditions. If the expedition is profitable, the territories would appear as new, being discovered for the rest of the civilized countries as the months or years pass. 

Terrestrial way

Land explorers would be a slow way to explore the world, but the only way to reach areas like India or China without having to reach the 1500s and unlock large-scale maritime explorations. To reach land areas, large cities or ports would be needed to supply the explorers, they could pass through them, unless they have bad relations with the countries through which they pass, blocking the border or risk passing taking into account that they could kidnap or kill the expedition.

 

Every country will have it's own map of know world, for example, phoenicians would know mostly of Mediterranean sea, some of Britannia and part of Mesopotamia. If a civilization disappears, specially in ancient times and before the new lands spread consistently in the maps.

If you wanted to establish trade routes, you would need something more than simply exploring; there must be a stable situation in the provinces that the route passes through and supply points for merchant ships or caravans.

Explorer leaders gain experience based on their successes, making it more likely that areas will be discovered, especially with similar biomes.

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