The Tech: It’s a bare-metal C++ interceptor using an EMA+MAD stability metric derived from Control Lyapunov Functions. Performance: 1.18 microseconds worst-case execution time (WCET). No heap, no dynamic allocation, just 24 bytes of state. The "Bridge": The latest update includes a Python-C++ bridge to use local LLMs (like Gemma 4 via Ollama) as robotic controllers while keeping them physically safe.
Currently under review at IEEE Transactions on Aerospace and Electronic Systems.