View source for "TROLL": a regenerating robot

{{StudentProjectTemplate
|Summary="TROLL": a regenerating robot
|References=K. Gold, B. Scassellati, Using probabilistic reasoning over time to self-recognize, Robotics and Autonomous Systems (2008), doi:10.1016/j.robot.2008.07.006
|Supervisor=Martin Cooney, Anita Sant'Anna, 
|Status=Open
}}
Goal: a companion robot which can fix some of its own problems itself
Motivation: people, especially the elderly, cannot be expected to maintain very complex robots; robots should help out
Challenge: it's tough even for humans to repair robots.
For a soft companion robot intended to interact closely with people, two very common problems are:
  degradation of its exterior (marks and scratches)
  motor problems (due to e.g., frayed/loose cables, gears wearing down)
Approach: to detect the problems above, the student will set up a robot to look at itself periodically in a mirror while moving, comparing a mental model of itself with what it actually perceives. 
Time allowing, the student should also try to develop some capability for the robot to seek to repair identified problems: marking holes in its exterior and damaged motors, and possibly robot motions to try to fill holes with foam
Requirement: some capability to work with software, and interest in robots and recognition
Expected results: a thesis/report, code, video