In the EU-funded MuMMER project, we have developed a social robot designed to interact naturally and flexibly with users in public spaces such as a shopping mall. We present the latest version of the robot system developed during the project. This system encompasses audio-visual sensing, social signal processing, conversational interaction, perspective taking, geometric reasoning, and motion planning. It successfully combines all these components in an overarching framework using the Robot Operating System (ROS) and has been deployed to a shopping mall in Finland interacting with customers. In this paper, we describe the system components, their interplay, and the resulting robot behaviours and scenarios provided at the shopping mall.

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