Since the specific space $\mathbb{R}^k$ is given, this might be provable in ZF.
Let $\{F_n\}_{n\in \omega}$ be a family of closed subset of $\mathbb{R}^k$, of which the union is $\mathbb{R}^k$.
Suppose $\forall n\in \omega, {F_n}^o=\emptyset$ ($o$ denotes interior)
Fix $x_0 \in \mathbb{R}^k$ Then by assumption, $\forall 0<r\in \mathbb{R}$, there exists $y\in \mathbb{R}^k$ such that $y\in B(r,x_0)\setminus (F_n \cup \{x_0\})$ for every $n\in \omega$.
I tried to show that for every $r$, there exists $y\in \mathbb{Q}^k$ that satisfies the condition. (Once the existence is guaranteed, since $\mathbb{Q}^k$ can be well-ordered lexicographically, $y$ can be chosen uniquely, hence recursion theorem would be appliable)
But i couldn't. Is there any way to show this?
If it is true, let $y_0 \in B(r,x)\setminus (F_0 \cup \{x_0\})$ and $y_{n+1} \in B(d(y_n,x_0),x_0) \setminus (F_{n+1} \cup \{x_0\})$.
Then, $\forall n\in \omega$, $B(d(y_n,x_0),x_0) \setminus (F_{n+1} \cup \{x_0\})$ is nonempty.
Here, again, i don't know how to show that 'there exists $y\in \mathbb{R}^k$ such that $y\notin \bigcup_{n\in \omega} F_n$.
Please help.
If my argument is wrong, please give me a proper proof.
This is essentially the Baire category theorem. Indeed in ZF it holds for separable complete metric spaces.
The argument is as follows:
Suppose that $(X,d)$ is a separable complete metric space, and $\{a_k\mid k\in\omega\}=D\subseteq X$ is a countable dense subset.
By contradiction assume that we can write $X=\bigcup F_n$ where $F_n$ are closed and with empty interior, we can further assume that $F_n\subseteq F_{n+1}$.
Define by recursion the following sequence:
Note that $x_n$ is a Cauchy sequence, therefore it converges to a point $x$. If $x\in F_n$ for some $n$, first note that $d(x_k,F_n)\leq d(x_k,x)$, by the definition of a distance from a closed set.
If so, for some $k$ we have that $d(x,x_k)<r_n$, in particular $d(F_n,x_k)<r_n$. First we conclude that $n<k$, otherwise $d(F_n,x_n)>r_n$. Now we note that:
$$d(F_n,x_n)\leq d(x,x_n)\leq d(x,x_k)+d(x_k,x_n)\leq r_n+r_n=2r_n$$
It is not hard to see that $2r_n< d(F_n,x_n)$, which is a contradiction to the choice of $x_n$.
Added: Why is there $a_k$ in every step of the inductive definition?
Note that $D$ is dense therefore $\overline{D}=X$. In particular, if $F_n$ is closed and has a dense subset then $F=X$. Since we assume that the interior of $F_n$ is empty we have that $F_n\cap D$ is not dense in $X$, otherwise $F_n=X$ and has a non-empty interior.
We have that $D\setminus F_n$ is dense, since $D\cap F_n$ is not dense. In particular this means that in every open set there is some $a_k\in D\setminus F_n$, and thus the induction can be carried in full.