Three altitudes, one question: given a goal and constraints, what happens next. A route through a warehouse, a mission for a drone fleet, a sequence of tool calls for an agent — same discipline, different actors. Six with something to show; the rest are in the archive.

• in the field

  PyMAPF

  A multi-agent planning toolbox — CBS, PIBT, LaCAM and Prioritized Planning solvers, running on arbitrary graphs, not just grids. Every solver streams its search live, so you can watch conflicts get found and resolved node by node instead of taking the answer on faith.

  • Python
  • Multi-Agent Planning
  • Graph Search
  • CBS / PIBT
• in the field

  jupyddl

  A pure-Python PDDL planning framework — hand-written parser and grounder covering STRIPS through durative actions, 14 planners from BFS to weighted A* to LM-cut, and heuristics you can train on your own solved plans.

  • Python
  • PDDL
  • A* / Search
  • Heuristics
• on the metal

  rostree

  A ROS 2 dependency graph is a DAG, not a tree — expanding it path by path is exponential. rostree explores it properly instead: from the command line, a TUI, or a self-contained HTML file with no CDN and no network calls, so it survives being opened on a robot with no route out.

  • Python
  • Graph Theory
  • ROS 2
  • TUI
• in the field

  autonomous-uav-guide

  Flight algorithms from scratch: multirotor, fixed-wing and VTOL physics written out in full, 40+ runnable simulations, and a gym for teaching a drone to fly itself. The platform-agnostic argument made literal — the planning and control layer doesn't know or care what it's flying.

  • Python
  • Flight Dynamics
  • Reinforcement Learning
• in the loop

  Kymatics

  Speak an intent and watch it become a queue of build jobs. Voice goes in through a Python speech service, a Rust orchestrator plans and schedules the work, and a React board tracks every job through todo → running → done. The queue plans itself — the same scheduling problem as a robot fleet, with a microphone as the input device.

  • Rust
  • Python
  • React
  • Voice / STT
• in the field

  Ingeniarius

  A full autonomy stack built from scratch with ROS and embedded systems for maze-solving robotics, winning both the mapped and unmapped competitions against the field.

  • ROS
  • Embedded Systems
  • Autonomy
  • Robotics