http : //wvv.pl g. inf.uc3m.es Abstract. Comprehensive Geriatric Assessment is a medical procedure to evaluate t he physical, social and psychological status of elder patients. One of it s phases consists of performing different tests t o the pat ient or relatives. In t his paper we present the challenges to apply Automated P lanning to control an autonomous robot helping t he clinician to perform such test s. On t he one hand the paper focuses on the modelling decisions t aken, from an init ial approach where each t est was encoded using slightly different domains, to the final unified domain allowing any test to be represented. On the other hand, the paper deals with practical issues arisen when executing the plans. Preliminary t ests performed with real users show that t he proposed approach is able to seamlessly handle t he patient-robot interaction in real time, recovering from unexpected events and adapt ing t o t he users' preferred input method, while being able to gather all the informat ion needed by t he clinician.

The goal of the LifeBots project is the study and development of long-life mechanisms that facilitate and improve the integration of robotics platforms in smart homes to support elder and handicapped people. Specifically the system aims to design, build and validate an assistive ecosystem formed by a person living in a smart home with a social robot as her main interface to a gentler habitat. Achieving this goal requires the use and integration of different technologies and research areas, but also the development of the mechanisms in charge of providing an unified, pro-active response to the user's needs. This paper describes some of the mechanisms implemented within the cognitive robotics architecture CORTEX that integrates deliberative and reactive agents through a common understanding and internalizing of the outer reality, which materializes in a shared representation derived from a formal graph grammar.