Oya Domain Proposal: AI-Controlled Drone & Swarm Management Platform

Proposed Domain Name: Oya (Yoruba goddess of wind, storms, and transformation) Scope: scope:oya Type: Platform Capability Domain Date: January 2026

Executive Summary#

Oya is proposed as a new platform capability domain for the Oshun monorepo, providing comprehensive AI-controlled drone and swarm management capabilities. Like Aja (motion intelligence), Bellona (engine bridges), and Isis (generative factory), Oya would be consumed by product domains (Lilith, Yemaya, Aphrodite) rather than being a standalone product itself.

The domain encompasses:

• Multi-drone coordination and swarm intelligence
• AI-powered autonomous cinematography
• Indoor/outdoor navigation systems
• Real-time pose estimation integration for human tracking
• Hardware abstraction for multiple drone platforms
• Sensor fusion and edge AI processing

1. Domain Name Rationale#

Oya (Òyá)#

In Yoruba mythology, Oya is the powerful goddess of wind, storms, lightning, and transformation. She is one of the most formidable orishas, associated with:

• Wind and Air - Commands the winds, from gentle breezes to fierce storms
• Lightning and Thunder - Swift, powerful, and precise
• Transformation - Goddess of change and adaptation
• Guardian of the Dead - Protector during transitions

Why Oya fits:

• Thematically aligned with flight - As goddess of wind, she embodies aerial movement
• Yoruba mythology consistency - Matches existing Oshun domains (Yemaya, Aja are also Yoruba)
• Swift and adaptive - Perfect for AI-powered autonomous systems
• Transformation aspect - Reflects the transformative nature of drone technology
• Storm coordination - Multiple forces working together, like drone swarms
• Female deity - Maintains the naming convention of Oshun domains

2. Core Capabilities#

2.1 Flight Control & Navigation#

2.2 Swarm Coordination#

2.3 AI Cinematography#

2.4 Sensor Integration#

2.5 Pose Estimation Integration#

2.6 Edge AI Processing#

3. Library Architecture#

libs/oya/
├── core/
│   ├── types/                    # Core type definitions
│   ├── constants/                # Physical constants, limits
│   ├── utils/                    # Common utilities
│   └── errors/                   # Domain-specific errors
│
├── flight-control/
│   ├── kinematics/               # Drone physics, dynamics
│   ├── attitude-control/         # Orientation management
│   ├── velocity-control/         # Speed regulation
│   └── mission-execution/        # Waypoint following
│
├── navigation/
│   ├── gps/                      # GNSS positioning
│   ├── indoor-positioning/       # UWB, VIO, motion capture
│   ├── visual-slam/              # ORB-SLAM, RTAB-Map integration
│   ├── path-planning/            # A*, RRT, trajectory optimization
│   └── obstacle-avoidance/       # Sensor fusion, collision prevention
│
├── swarm/
│   ├── coordination/             # Multi-agent coordination
│   ├── formation/                # Formation flying algorithms
│   ├── task-allocation/          # Mission distribution
│   ├── consensus/                # Distributed agreement
│   └── communication/            # Inter-drone messaging
│
├── cinematography/
│   ├── shot-planning/            # Composition algorithms
│   ├── subject-tracking/         # Person/object following
│   ├── trajectory-optimization/  # Smooth path generation
│   ├── multi-camera/             # Multi-drone coordination
│   └── streaming/                # Real-time video streaming
│
├── sensors/
│   ├── camera/                   # RGB, thermal, depth cameras
│   ├── lidar/                    # LiDAR integration
│   ├── imu/                      # Inertial measurement
│   ├── gps/                      # GNSS receivers
│   ├── audio/                    # Microphones, speakers
│   └── fusion/                   # Multi-sensor fusion
│
├── pose-estimation/
│   ├── detection/                # 2D pose detection
│   ├── reconstruction/           # 3D body reconstruction
│   ├── multi-view/               # Multi-camera fusion
│   ├── tracking/                 # Temporal tracking
│   └── analysis/                 # Form analysis, metrics
│
├── hardware-abstraction/
│   ├── dji/                      # DJI MSDK, OSDK, PSDK adapters
│   ├── px4/                      # PX4 autopilot integration
│   ├── ardupilot/                # ArduPilot integration
│   ├── mavlink/                  # MAVLink protocol
│   └── generic/                  # Abstract interfaces
│
├── edge-ai/
│   ├── inference/                # Model inference runtime
│   ├── optimization/             # Quantization, pruning
│   ├── models/                   # Pre-trained models
│   └── deployment/               # Edge deployment utilities
│
├── safety/
│   ├── geofencing/               # Virtual boundaries
│   ├── emergency/                # Failsafe procedures
│   ├── human-aware/              # Social navigation
│   └── compliance/               # Regulatory compliance
│
├── telemetry/
│   ├── collection/               # Real-time data gathering
│   ├── streaming/                # Live telemetry broadcast
│   ├── logging/                  # Flight data recording
│   └── analysis/                 # Post-flight analysis
│
├── simulation/
│   ├── gazebo/                   # Gazebo integration
│   ├── airsim/                   # AirSim integration
│   ├── jmavsim/                  # jMAVSim integration
│   └── physics/                  # Physics simulation
│
├── client/                       # TypeScript SDK for consumers
├── database/                     # Flight logs, telemetry storage
└── event-handlers/               # Event bus integration

Estimated Library Count: 45-55 libraries

4. Integration with Existing Domains#

4.1 Integration Matrix#

4.2 Detailed Integration Scenarios#

Aphrodite + Oya: Multi-Angle Performer Capture#

Aphrodite (Live Streaming Platform)
        │
        ├── Requests: "Capture performer from 4 angles"
        │
        ▼
Oya (Drone Swarm)
        │
        ├── Coordinates 4 drones in formation
        ├── Tracks performer using pose estimation
        ├── Maintains cinematic framing
        │
        ▼
    ┌───┴───┐
    │       │
    ▼       ▼
  Aja     Aphrodite
(Pose)   (Streaming)

Lilith + Oya: Fitness Form Analysis#

Lilith (Wellness Platform)
        │
        ├── User starts yoga session
        │
        ▼
Oya (Drone Controller)
        │
        ├── Positions drone for optimal view
        ├── Captures multi-angle video
        │
        ▼
Aja (Motion Analysis)
        │
        ├── Extracts 33 body keypoints
        ├── Calculates joint angles
        │
        ▼
Lilith (Feedback)
        │
        └── Provides real-time form corrections

Yemaya + Oya: Cinematic Production#

Yemaya (Production Studio)
        │
        ├── Director specifies shot sequence
        │
        ▼
Oya (Cinematography)
        │
        ├── Plans optimal camera paths
        ├── Executes with B-spline trajectories
        ├── Coordinates multi-drone shots
        │
        ▼
    ┌───┴───┐
    │       │
    ▼       ▼
  Isis    Bellona
(Process) (Preview)

4.3 Dependency Rules#

# Oya CAN depend on:
- @oshun/* (shared foundation)
- @aja/* (motion capture, pose estimation)
- @sophia/* (learning, recommendations)

# Oya CANNOT depend on:
- @lilith/* (product domain)
- @yemaya/* (product domain)
- @aphrodite/* (product domain)

# Products CAN consume Oya via:
- gRPC/REST APIs
- Event bus subscriptions
- TypeScript client SDK

5. Hardware Platform Support#

5.1 Consumer/Prosumer Drones#

5.2 Enterprise/Professional Drones#

5.3 Indoor/Development Drones#

5.4 Custom/Open-Source#

6. Use Cases by Oshun Domain#

6.1 Aphrodite Integration#

6.2 Lilith Integration (Wellness/Meditation)#

6.3 Yemaya Integration (Production)#

6.4 Fashion/Styling Application#

6.5 Novel Applications#

7. State-of-the-Art Technical Features#

7.1 Swarm Intelligence#

7.2 AI Cinematography#

7.3 Indoor Navigation#

7.4 Pose Estimation#

7.5 Hardware Capabilities#

7.6 Communication & Streaming#

8. Safety & Compliance#

8.1 Safety Features#

8.2 Noise Reduction#

8.3 Regulatory Compliance#

9. Development Priorities#

Phase 1: Core Infrastructure (Months 1-3)#

• Core types and constants
• MAVLink protocol implementation
• PX4/ArduPilot adapters
• Basic telemetry collection
• TypeScript client SDK

Phase 2: Navigation & Control (Months 4-6)#

• GPS navigation
• Indoor positioning (UWB, VIO)
• Basic obstacle avoidance
• Path planning algorithms
• Mission execution

Phase 3: Swarm Capabilities (Months 7-9)#

• Multi-drone coordination
• ORCA collision avoidance
• Formation flying
• Task allocation
• Mesh communication

Phase 4: AI Cinematography (Months 10-12)#

• Subject tracking
• Shot composition
• Trajectory optimization
• Multi-camera coordination
• Streaming integration

Phase 5: Pose Estimation Integration (Months 13-15)#

• 2D pose detection pipeline
• 3D reconstruction
• Multi-view fusion
• Form analysis algorithms
• Aja domain integration

Phase 6: Domain Integrations (Months 16-18)#

• Aphrodite integration
• Lilith integration
• Yemaya integration
• Production hardening
• Documentation

10. Technology Stack Summary#

Languages & Frameworks#

• TypeScript: Client SDK, event handlers
• Python: ML/AI pipelines, pose estimation
• Rust: Performance-critical flight control
• C++: Edge AI inference, hardware interfaces

Key Dependencies#

• MAVLink/MAVSDK: Flight control protocol
• ROS 2: Robotics middleware
• PX4/ArduPilot: Autopilot systems
• NVIDIA TensorRT: Edge AI inference
• OpenCV: Computer vision
• MediaPipe/YOLO: Pose estimation

Infrastructure#

• Redis Streams: Event messaging
• PostgreSQL: Flight logs, telemetry
• MinIO: Video/image storage
• Gazebo/AirSim: Simulation

11. Success Metrics#

Conclusion#

Oya represents a comprehensive platform capability domain that would enable sophisticated drone-based features across the entire Oshun ecosystem. By following the established architectural patterns (capability domain consumed by product domains), it provides maximum reusability while maintaining clear boundaries.

The domain name Oya (Yoruba goddess of wind, storms, and transformation) maintains thematic consistency with Oshun's mythology-based naming (alongside Yemaya and Aja) while perfectly capturing the essence of flight, swift coordination, and the transformative power of drone swarms working in harmony.

Key differentiators:

1. Multi-platform support: DJI, PX4, ArduPilot, Skydio
2. Indoor-first: UWB, VIO, SLAM for GPS-denied operation
3. Swarm-native: Built for multi-drone coordination from the start
4. AI-powered: Cinematography, pose estimation, navigation
5. Integration-ready: Designed for Oshun domain consumption