The vital statistics of the last century highlight a sharply increasement of the average life of the world population with a consequent growth of the number of elderly people. This scenario has caused new social needs that the research in the service robotics field is trying to fulfill. Particularly, the idea of this thesis is born at the PIC4SeR (PoliTo interdepartmental centre for service robotics) with the purpose of creating complex service robotics applications to support the autonomous and self-sufficient old people into their house in everyday life, avoiding the task of monitoring them by third parties. This work represents the first steps of a broad project in which many other service tasks will be integrated.