Erwin Lejeune

The tree

1. Parallel · root

   Erwin Lejeune

   A parallel node ticks all of its branches on every tick.

   1. Sequence

      Learn

      Electronics, then computers, then control.

      2014 – 2021

      1. B.Sc. Electronics Engineering

         Nantes Université · 2014 – 2018

      2. M.Sc. Computer Engineering & Aeronautics

         Ynov Bordeaux · 2018 – 2019

      3. M.Sc. Control & Robotics

         Ecole Centrale de Nantes · 2019 – 2021

   2. Sequence

      Build robots

      From one robot in a maze to swarms.

      2018 – now

      1. Sequence

         Embedded

         Embedded Software Engineer
         Hiventive · Bordeaux, France

         2018 – 2019

         Kept for good: treat time, memory and bandwidth as a budget.

         1. Build a virtual STM32 in SystemC/TLM

            Timers, I2C, CAN, GPIO and USART peripherals.

         2. Integrate it with QEMU

            Test against a model of the hardware first.

      2. Sequence

         Autonomy

         Robotics Assistant
         Ingeniarius · Coimbra, Portugal

         2019

         1. Build full autonomy stacks from scratch

            With ROS and embedded systems.

         2. Mapped maze solved?

            Won the competition.

         3. Unmapped maze solved?

            Won that one too.

      3. Parallel

         Research

         Robotics Researcher
         Ecole Centrale de Nantes, France

         2020 – 2021

         Four research projects I led, and two papers. Meanwhile, a remote software job.

         1. Multi-agent pathfinding

            Many robots, one map, no collisions.

            1. Survey of the Multi-Agent Pathfinding Solutions

               Preprint · 2021

         2. AI planning with PDDL

            Describe the world and the goal; let a planner find the steps.

         3. Real-time ROS control on Xenomai

            With XDDP between the real-time and Linux sides.

         4. ROS 2 latency benchmarking

            How much jitter a control loop really sees.

            1. Real-time Jitter Measurements under ROS2: the Inverted Pendulum Case

               Preprint · 2021

         5. Remote: backend services in Go

            Software Engineer at Hiventive. PostgreSQL, Docker, and a manager for candidates' programming tests.

      4. Sequence

         Ship a real robot

         Founding Robotics Engineer
         Coalescent Mobile Robotics · Odense, Denmark

         2021 – 2022

         “A real store changes your priorities fast.”

         1. Lead the navigation stack

            Path planning, motion control, localization.

         2. Contribute to perception

            Detection, filtering, tracking.

         3. First in-store robot working?

            Yes: a supermarket robot, delivered by the founding team.

         4. Take over when the CTO left

            Led navigation and trolley detection, recruited and trained interns and a junior engineer, turned the CEO's requirements into sprints.

      5. Sequence

         Swarm

         Senior Engineer, Robotics Software
         Technology Innovation Institute · Abu Dhabi

         2022 – 2024

         1. Lead R&D on multi-robot behaviour

            Components for orchestration, collaboration and control.

         2. Design new swarm behaviours

            Including decentralized, bird-inspired flocking, published at IROS 2024.

            1. Decentralized Acceleration-Based Bird-Inspired Flocking

               IEEE/RSJ IROS 2024

         3. Run live demos for partners

            The project led to USD 3M in contracts.

      6. Sequence

         Lead

         Team Lead, Robotics Software
         Technology Innovation Institute · Abu Dhabi

         2024 – 2026

         1. Grow and lead a team of 9

            Autonomy, infrastructure (DevOps, RobotOps) and platform integration.

         2. Overhaul the swarm autonomy

            −74% onboard CPU, −52% network bandwidth.

         3. Joint program with Caltech

            Outdoor planning and tracking for M4, their flying and rolling robot; work on their humanoid too.

         4. Demo to companies in Europe and the UAE

            USD 10M+ in contracts.

         5. Start building AI tooling for the team

            Ship more without lowering the bar.

      7. Sequence

         Head of Robotics

         Founding team
         SIRB.AI · Abu Dhabi

         Feb 2026 – now

         سرب (sirb) is Arabic for a flock, or a swarm.

         1. Design the robotics software architecture

            And the autonomy roadmap.

         2. Build a self-healing autonomy layer

            Swarm-wide fault and state recording, agents that detect and recover from failures, ML mission scoring before launch.

         3. Public launch at UMEX 2026?

            Yes: unveiled as the Middle East's first AI-powered swarm platform.

         4. Lead the robotics software teams

            Orchestration, navigation, fault management.

   3. Parallel

      Found

      Founder
      Unchained Labs · remote

      2024 – now

      1. Local-first AI agents

         They run on a company's own models, data and infrastructure.

      2. Kymatics

         Graph-based agent orchestration: a spoken intent becomes a queue of build jobs.

         Codeunchainedlabs.dev

   4. Parallel

      Make tools

      Open source. The clips are recordings of the real thing.

      1. BTView

         A visual behavior-tree editor for BehaviorTree.CPP, inside VS Code and Cursor.

      2. grip

         A git hook that quizzes you on your own diff before you commit, and blocks anything below the pass mark.

         CodeDocs

      3. PyMAPF

         Multi-agent pathfinding on any graph: CBS, PIBT, LaCAM, MAPF-LNS. The solvers stream their search live.

         CodeSite

      4. PythonPDDL

         A dependency-free PDDL framework: hand-written parser and grounder, 14 planners, trainable heuristics.

         CodeSite

      5. flybots

         Multirotor, fixed-wing and VTOL flight physics from scratch: 40+ simulations and an RL gym.

         CodeSite

      6. rostree

         Explore a ROS 2 dependency graph (a DAG, not a tree) from the CLI, a TUI, or one HTML file.

         CodeSite

      7. roue

         Offline file converter for the Linux desktop: Ctrl+Shift+right-click a file, pick a format on a wheel.

         CodeSite

      8. jarvis_ros2

         Fault and recovery management for ROS 2 robots.

      9. awesome-daily-minigames

         A list of 281 daily puzzle games.

      10. Merged upstream

          navigation2, the ROS 2 navigation stack · PythonRobotics · TheAlgorithms/Python

   5. Parallel

      Off the clock

      Running the whole time.

      1. Basketball

      2. Films

      3. Photography

         Twelve of them, below.

      4. Clanker Labs

         My self-hosted home: notes, mail, media, passwords and money, with an agent in front so it doesn't need a sysadmin.

         CodeSite