HRItk: The Human-Robot Interaction ToolKit Rapid Development of Speech-Centric Interactive Systems in ROS. - Ian R. Lane; Vinay Prasad; Gaurav Sinha; Arlette Umuhoza; Shangyu Luo; Akshay Chandrashekaran; Antoine Raux (SDCTD@NAACL-HLT, 2012)