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 . <EOS>