I think we need to distinguish two types of exploration:
* charting space & probing for enemies (to find routes to planets and enemy colonies)
* survey (to find out what's on the planet)
Thousands of years before you have the capability to visit a nearby star, you will have seen it. Astronomers will have measured it, worked out it's mass, worked out the probability of planets, probability of life, etc. etc. etc.
So you shouldn't just be sending out scouts at random, you should have data available to make value estimations and informed decisions.
Yes... I feel it could be an answer...
This is a part of the game design developers should consider and implement. I hate the black map syndrome. Makes no sense to me.
Actually, in most/all games I have seen you see all the systems from the start (that they exist and colour of the star). So, there is no black map. You need to scout the systems for exact planets, what is on the planets, routes to the planets (if the games uses paths) and if there is an enemy/monster.
That's exactly it. Scout ships should be neither cheap nor expensive. There's a middle ground where you should debate whether it's worth spending a few turns to build one on a new planet, or one or two turns on a productive one.
I disagree :) You have to scan ALL nearby systems for security if nothing else. Actually, losing a scout ship is the best outcome (that's what you look for), it means the system has a space monster or that you encountered another empire (which is the most valuable information, far more important than if the planet is good for colonization).
What makes exploration in non-space games interesting?
Yeah, I think expolration is not fun in itself. And probably it does not have to be. The whole point is that you don't know everything from the start, that you don't know the whole setup, that there are surprises waiting (and people LOVE surprises :))
First, I would like to say that you are doing a great job of questioning many of the 'standard' 4X mechanics or styles of play. It is always a good thing to question why.
Yes, I love this form of procastration :) It's so much easier to question things than to implement them :D