The book presents the conclusions of four years joint work of 12 European laboratories on mobile robotics technology for healthcare services. The book bridges the human factors and the demands of real-life applications to the achievements of the robotics technology. It is organised in 15 chapters analysing topics covering all the related fields and including but not limited to: user - application requirements, human machine interfacing, mobile robots' and mobile manipulators' control architectures, navigation and sensing strategies, robot - smart building interconnection etc. giving technical details and hints to the reader on how to address real-life problems. The book also performs a historical review and includes an overview of the current developments worldwide.