- We can mapping the rectangle
-1<=s<=2.2, -1<=t<=2.2
to such region.
xs[u_, v_, λ_] := (-(1/4) +
I/4) Sqrt[π] λ (Erf[(1/2 + I/2) u] -
Erf[(1/2 + I/2) (u - I v)] + Erfi[(1/2 + I/2) u] -
Erfi[(1/2 + I/2) (u + I v)]) +
1/λ Sqrt[π] FresnelC[u/Sqrt[π]]
ys[u_, v_, λ_] := (-(1/4) -
I/4) Sqrt[π] λ (Erf[(1/2 + I/2) u] -
Erf[(1/2 + I/2) (u - I v)] - Erfi[(1/2 + I/2) u] +
Erfi[(1/2 + I/2) (u + I v)]) +
1/λ Sqrt[π] FresnelS[u/Sqrt[π]]
ParametricPlot[{xs[s, t, .6], ys[s, t, .6]}, {s, -1, 2.2}, {t, -1,
2.2}, PlotStyle -> Cyan]

- We can compare with the mapping domain and the mapping range as below.
{ParametricPlot[{s, t}, {s, -1, 2.2}, {t, -1, 2.2}, PlotStyle -> Cyan,
Axes -> None, Mesh -> {10, 10},
MeshShading -> {{Red, Blue}, {Yellow, Green}}],
ParametricPlot[{xs[s, t, .6], ys[s, t, .6]}, {s, -1, 2.2}, {t, -1,
2.2}, PlotStyle -> Cyan, Axes -> None, Mesh -> {10, 10},
MeshShading -> {{Red, Blue}, {Yellow, Green}}]} // GraphicsRow

- Another way is take care of the orientation of paths.
xs[u_, v_, λ_] = (-(1/4) +
I/4) Sqrt[π] λ (Erf[(1/2 + I/2) u] -
Erf[(1/2 + I/2) (u - I v)] + Erfi[(1/2 + I/2) u] -
Erfi[(1/2 + I/2) (u + I v)]) +
1/λ Sqrt[π] FresnelC[u/Sqrt[π]];
ys[u_, v_, λ_] = (-(1/4) -
I/4) Sqrt[π] λ (Erf[(1/2 + I/2) u] -
Erf[(1/2 + I/2) (u - I v)] - Erfi[(1/2 + I/2) u] +
Erfi[(1/2 + I/2) (u + I v)]) +
1/λ Sqrt[π] FresnelS[u/Sqrt[π]];
loop[λ_] = {{xs[-1, t, λ],
ys[-1, t, λ]}, {xs[2.2, t, λ],
ys[2.2, t, λ]}, {xs[t, -1, λ],
ys[t, -1, λ]}, {xs[t, 2.2, λ],
ys[t, 2.2, λ]}};
{l1, l2, l3, l4} = ParametricPlot[#, {t, -1, 2.2}] & /@ loop[.6];
{pts1, pts2, pts3, pts4} =
Cases[#, Line[a_] :> a, Infinity] & /@ {l1, l2, l3, l4};
pts = Join[pts3[[1]], pts2[[1]], Reverse@pts4[[1]], Reverse@pts1[[1]]];
Graphics[{Green, FilledCurve[Line[pts]]}, Axes -> True]
(* Graphics[{Green, WindingPolygon[pts]}, Axes -> True] *)

BoundaryDiscretizeGraphics
also work if we use JoinedCurve
.
Clear[xs, ys, l1, l2, l3, l4];
xs[u_, v_, λ_] = (-(1/4) +
I/4) Sqrt[π] λ (Erf[(1/2 + I/2) u] -
Erf[(1/2 + I/2) (u - I v)] + Erfi[(1/2 + I/2) u] -
Erfi[(1/2 + I/2) (u + I v)]) +
1/λ Sqrt[π] FresnelC[u/Sqrt[π]] // Re;
ys[u_, v_, λ_] = (-(1/4) -
I/4) Sqrt[π] λ (Erf[(1/2 + I/2) u] -
Erf[(1/2 + I/2) (u - I v)] - Erfi[(1/2 + I/2) u] +
Erfi[(1/2 + I/2) (u + I v)]) +
1/λ Sqrt[π] FresnelS[u/Sqrt[π]] // Re;
l1 = Cases[
ParametricPlot[{xs[s, -1, .6], ys[s, -1, .6]}, {s, -1, 2.2}],
Line[a_] :> a, Infinity][[1]];
l2 = Cases[
ParametricPlot[{xs[2.2, t, .6], ys[2.2, t, .6]}, {t, -1, 2.2}],
Line[a_] :> a, Infinity][[1]];
l3 = Cases[
ParametricPlot[{xs[s, 2.2, .6], ys[s, 2.2, .6]}, {s, 2.2, -1}],
Line[a_] :> a, Infinity][[1]] // Reverse;
l4 = Cases[
ParametricPlot[{xs[-1, t, .6], ys[-1, t, .6]}, {t, 2.2, -1}],
Line[a_] :> a, Infinity][[1]] // Reverse;
Graphics[JoinedCurve[
Line[Join[l1, l2, l3, l4]]]] // BoundaryDiscretizeGraphics

https://mathematica.stackexchange.com/a/252935/72111
https://mathematica.stackexchange.com/a/262992/72111