Ambient assisted living (AAL) environments are currently a key focus of interest as an option to assist and monitor disabled and elderly people. These systems can improve their quality of life and personal autonomy by detecting events such as entering potentially dangerous areas, potential fall events, or extended stays in the same place. Nonetheless, there are areas that remain outside the scope of AAL systems due to the placement of cameras. There also exist sources of danger in the scope of the camera that the AAL system cannot detect. These sources of danger are relatively small in size, occluded, or nonstatic. To solve this problem, we propose the inclusion of a robot which maps such uncovered areas looking for new potentially dangerous areas that go unnoticed by the AAL. The robot then sends this information to the AAL system in order to improve its performance. Experimentation in real-life scenarios successfully validates our approach.