  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.
