I'm Marussa, an independent developer working on QERRA-v2 Classical.

The project is a deterministic supervisory gate for mobile robots: if a high-level planner lags, drops out, or commands an unsafe trajectory, the gate trips fail-closed and cuts motor power.

Currently evaluating multi-fault recovery and dynamic stopping envelopes in Webots simulation on a TIAGo base. All code, unit tests, and flight recorder logs are public on GitHub.