The software components developed in-house by the LCAS members of the team are:

• Topological navigation
• People detection and tracking
• Engagement detection
• Gesture Recognition
• Decision Marking and planning
• Behaviour specification and planning
• Door opening
• Failure notification and recovery

The following are the third-party software that we deploy on the robot:

• Metric navigation: move_base
• Object detection: YOLOv3
• OCR: Keras-OCR
• Human pose detection: OpenPose
• Manipulation and grasping: MoveIt!
• Dialogue management: Rasa
• Speech recognition: Google Cloud Speech API