The research focus of this project is on domestic service robots. Even though the problem of service robots in domestic environments is not new, a substantial amount of challenges are still open. This project focuses on some of these challenges, targeting at advances beyond the state-of-the-art, while employing components off-the-shelf (COTS) to implement the others. The problems we plan to focus on are: (a) semantic mapping, that is, the problem of perceiving and representing relevant aspects of a physical environment, such as locations of certain objects and of humans to interact with, as well as of dynamic obstacles, e.g. closed doors and moved furniture, (b) human-aware planning and execution, comprising the problem of performing tasks where close human involvement is expected, while being capable of detecting and coping with unexpected events, and (c) benchmarking, in the sense of assessing performance of the robot system against a reference performance. These are three strongly interconnected problems: human-aware dependable planners require a regularly updated semantic map and self-monitoring of the plan execution performance.