The work presented in this paper is focused on the design and the implementation of an adaptive framework for ambient assisted living applications. The challenge is to design an approach to deal with a dynamic environment in order to provide an adequate service to an elderly or a sick person at home. It's necessary to take into account constraints such as, the degree of urgency of the service and the degree of intrusion of the system. The evolution of the degree of intrusion based on the degree of urgency and the availability of the different communication devices that constitute the ambient environment are particularly targeted. Through an adaptive approach based on coalitions of agents, our multi-agents system ensures answers to various and/or unforeseen situations. Our coalitions protocol formation has been implemented in a real scenario in an ambient intelligence context. A more sophisticated version of our system has been designed allowing an intelligent and a declarative method for modeling the coalitions formation process. Indeed, the system has been doted with a rule-based system so that the reasoning implementing the coalitions formation process can be tuned in a declarative way by the user. Application objective: A mobile robot interacts and cooperates with communicating objects network to decline a set of services and teleservices in order to facilitate the daily life of the person and his entourage at home. Providing a multi-agent system which could be used for both evaluating the relevance of formation coalitions rules and implementing such rules. The proposed solutions have been implemented on a real system and evaluated in real situations. Several protocols for coalitions formation are being compared.