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This paper describes the major components of software architecture of an autonomous visitor guide robot with the brief explanation of its hardware system. This robot, "Butler," was deployed in a real office environment, Intelligent Robot Research Center at KIST, where it guided many visitors successfully. To make the robot navigate the office and interact with visitors without problems, many challenges such as navigation in dynamic environments and interaction through various methods should be overcome. In this paper, the solutions for those problems are illustrated and our conclusion about this project is discussed.