”TROLL”: a regenerating robot

Abstract: The goal of this project was to create a self-fixing system for a mo-bile robot as a part of an assisted living system in a home. To accom-plish that, a new system has been generated in this project called SAS, comprising three steps: self-detection, anomaly-recognition, and self-modification. To be more detailed, the robot should 1) find itself in a mirror using vision sensor data; 2) recognize the presence of flaws in its detected image; and 3) act to deal with the flaws. To demonstrate this approach a specific scenario for the current work was chosen, involving a robot which consisted of a moving base, a camera, a robot arm, and a target to fix. The robot was designed to move around in a simplified intelligent home-like environment outfitted with a mirror and take advantage of the mirror to performself-fixing. As a conclusion, the proposed system (SAS) allowed a mobile robotsome ability to fix its exterior in one simplified context.