Fractal Space Filling Curves [GA2021 H Verrill page 4/15]

What is a space filling curve? The Smith Truchet tiling of quarter circles is sort of space filling - it fills a lot of space. But for a mathematical space filling curve, we need a limiting process to pass from one level of iteration to another, as for example in the case of the famous Hilbert curve:

Example: Hilbert curve

Change level of iteration:

There are three types of tile, with replacement rules as follows, the replacement tiles are below the original:

Use the edge option in the above previous picture to more easily see the way the tiles are replaced with a continuous interpolation possible.
Once you have this basic transformation you can play around with it in lots of ways, e.g., as in the examples here.

Question:

What is the replacement transformation rule for the quarter circle Smith Truchet tile?

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