In the last decades the average quality of life improved all over the globe, leading to an increase of elderly people, that often need assistance in their everyday life. Contextually the field of service robotics has been trying to fulfill this social need, providing solutions which can safely coexist in the house. Inside this scenario, PIC4SeR (PoliTO Interdepartmental Centre for Service Robotics) has been putting efforts in a wide project, with the aim of assisting elder people in their daily routines. In particular, the goal of this thesis was to develop a series of software applications to be run on an Unmanned Grounded Vehicle (UGV), designed to roam safely in a domestic environment.