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multicalc is my rust crate aimed at scientific computing for real-time embedded systems, built from scratch in one integrated package. Estimation, control, kinematics, Lie groups, calculus, autodiff and linear algebra in stable no_std Rust with no heap, no panics and no unsafe.
What you're seeing: A 2D robot that starts up not knowing where it is, then localized itself using a 2,000-particle filter on a noisy lidar. Then, a 5-state Extended Kalman Filter fuses wheel odometry, an IMU, and GPS into a centimetre-level pose for continous state estimation. Finally, a Follow-the-Gap controller laps a course of obstacles. I run this control loop at a 1kHz rate, observing zero collisions over 600,000 ticks.
Highlights
- 1 kHz loop rates: No heap, fixed-size types, bounded work per call. Results in a full robotics control loop at 1 kHz.
Tested on six embedded targets Every commit is built and tested on the x86_64 and aarch64 Linux hosts; and on four bare-metal ABIs (thumbv7em soft-float, thumbv7em hardware-FPU, thumbv6m, and riscv32imc). QEMU is used to test them in a no_std, no-alloc, and no-panic environment.
Measured against external references Each module's results are verified against established libraries like numpy, scipy, and filterpy fixtures within ~1 ulp, thus validating the rust implementation. See the benchmarks attached in the repo.
Pure, safe and panic-free. #![forbid(unsafe_code)], no C dependencies, and unwrap/panic denied on library paths; every fallible call returns a typed error. Types are fixed-size and stack-allocated, and iteration counts are bounded.
The community headline: multicalc is now past a dozen contributors overall! Extremely thankful to the support so far.
Where it's headed: A quadcopter/drone with 15-state error-state EKF with IMU bias estimation, LQR and geometric attitude control, minimum-snap trajectories through a flying course, and notch filters for rotor vibration. multicalc is also aiming to support importing models directly from the MuJoCo Menagerie, so the physics is already inline with industrial standards.
Come build it! There are 50+ open good first issues right now, each small and self-contained, out of 85 open issues total. If you like numerical methods, autodiff, embedded Rust, or robotics, I'd love the help!
* crates.io: crates.io: Rust Package Registry
* Github: GitHub - kmolan/multicalc-rust: Scientific computing that fits on a microcontroller. Estimation, control, kinematics, Lie groups, calculus, autodiff and linear algebra in stable no_std Rust with no heap, no panics and no unsafe. Run the same code on your laptop and your Cortex-M0. · GitHub
* Good first issues: Issues · kmolan/multicalc-rust · GitHub
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| # | Наименование новости | Тональность | Информативность | Дата публикации |
|---|---|---|---|---|
| 1 | Multicalc: Scientific computing for real-time embedded systems in no_std Rust | 0 | 14.36 | 10-08-2026 |
| 2 | Multicalc 0.6.0: a no_std multivariable calculus library now looking for contributors | 5 | 7 | 28-06-2026 |
| 3 | Qhull_rayon v0.1.0 | 0 | 10.4 | 11-08-2026 |
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| 7 | My second crate :D : Karatepe, a localisation library | 0 | 6.84 | 11-08-2026 |
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| 10 | Mqtt-typed-client 0.2: a type-safe async MQTT client on top of rumqttc | 5 | 7 | 08-07-2026 |