Delivery of an object by the PR2 robot, as part of a planning and control of an object search and delivery task, in a domestic environment. This experience uses the PR2 robot that will move in the living room and bedroom of the apartment. It illustrates the robot’s ability to detect the position and posture of the person and then plan where the task can be performed. Thus, the robot plans for himself but also for the man. The experiment also shows the robot’s ability to identify, locate and manipulate objects (choice of grip, motion without collision in constrained environment). This robotics research is conducted in the Adream building, reconfigurable dynamic architectures for mobile autonomous embedded systems.