System comprising: - at least one wheel-equipped apparatus originally conceived for being moved manually by a disabled user; - at least one device comprising driving means adapted to move said device, anchoring means adapted to anchor said device to said at least one wheel-equipped apparatus, wherein said device is adapted to autonomously move said wheel-equipped apparatus, to which it is anchored, through said driving means, said system being characterized in that said device comprises: - a first communication bus adapted to interconnect communication means, input/output means, sensor means, actuator means and storage means with processing means of said device, defining a low-level subsystem wherein said processing means execute low-level operations in Safety-Critical mode, in particular Path-Finding, Real-Time-Obstacle-Avoidance and Tip-Over-Prevention operations; - a second communication bus adapted to interconnect said communication means, said input/output means and said storage means with further processing means of said device, defining a high-level subsystem wherein said further processing means execute high-level operations, in particular Off-Line-Obstacle-Avoidance operations and/or telecommunication functions and/or recognition of voice commands; - a third communication bus adapted to mutually connect said processing means and said further processing means, wherein the first communication bus and the second communication bus are not mutually coupled and wherein said actuator means are adapted to actuate said driving means and said anchoring means. - at least one wheel-equipped apparatus originally conceived for being moved manually by a disabled user; - at least one device comprising driving means adapted to move said device, anchoring means adapted to anchor said device to said at least one wheel-equipped apparatus, wherein said device is adapted to autonomously move said wheel-equipped apparatus, to which it is anchored, through said driving means, said system being characterized in that said device comprises: wherein said device is adapted to autonomously move said wheel-equipped apparatus, to which it is anchored, through said driving means, said system being characterized in that said device comprises: - a first communication bus adapted to interconnect communication means, input/output means, sensor means, actuator means and storage means with processing means of said device, defining a low-level subsystem wherein said processing means execute low-level operations in Safety-Critical mode, in particular Path-Finding, Real-Time-Obstacle-Avoidance and Tip-Over-Prevention operations; - a second communication bus adapted to interconnect said communication means, said input/output means and said storage means with further processing means of said device, defining a high-level subsystem wherein said further processing means execute high-level operations, in particular Off-Line-Obstacle-Avoidance operations and/or telecommunication functions and/or recognition of voice commands; - a third communication bus adapted to mutually connect said processing means and said further processing means, wherein the first communication bus and the second communication bus are not mutually coupled and wherein said actuator means are adapted to actuate said driving means and said anchoring means.