The phenomeno-logical robot

I am programming a mortal, autonomous robot (a rover with motors and sensors) so it has felt experiences, makes sense of them, and evolves its agency to survive in a dissipative world. My project is a learning-by-doing exploration of phenomenology, active inference and artificial agency. The robot will actively evolve a society of mind composed of simple cognition actors (CAs) organized in an abstraction hierarchy. A CA observes other, less abstract CAs (its umwelt), updates its beliefs from patterns it detects, decides which beliefs feel good, and acts on its umwelt to feel better. A CA uses a logic program it generates and updates to predict incoming observations and to anticipate the consequences of its actions. I am hoping this work will help me answer difficult questions such as: Can a robot be made mortal so it can have good vs bad experiences? Can a robot's experiences and sense making be entirely its own and not those of its programmer?